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Re: Drivetrain Physics
Attached is a spreadsheet project, which is intended to help with understanding related to robot acceleration and rate capabilities.
The relevant parameters are provided on the Parameters tab of the spreadsheet.
Once the robot parameters are specified, the acceleration percentage can be specified (or changed). Given the acceleration percentage, the cruise time is the remainder from the transit time. The shorter the acceleration time, the lower the cruise velocity but the higher the required acceleration - and vice versa. If the cruise velocity is high enough, there won't be enough battery potential to support the required motor speeds.
To evaluate the acceleration time capability a numerical simulation is included. Simply stated both the motor cruise speed and the required acceleration time must be met in order to have a possible solution.
This work is not presently validated.
There are missing data items within this; in particular most inertia values are computed from other data.
If there are comments to this, please respond; I am interested in feedback!
I hope that this information proves helpful to someone.
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