Quote:
Originally Posted by Jared
With the 6 fps low gear, we get 48.7 amps per motor during a pushing match, which is why I chose that ratio. If we want to go faster, the CIM pinion could be replaced, increasing the speed to 7.38 feet per second in low gear and 15.81 feet per second in high gear, but we'd have 56 amps per motor in a pushing match.
What do you think ideal free speeds for a 2 CIM gearbox are?
I can also take high gear up to 18.27 feet per second (with low still at 6), but I think this might be too fast. Low gear could also be increased to 9.41 feet per second (71 amps/motor), but this is too high.
I can also do 6.33 low, 17.5 high, or 5.8 low 16.11 high.
If anybody is interested, here is the CAD.
https://drive.google.com/folderview?...&usp=sha ring |
We use 5500 as our CIM free speed. Last year we ran 9FPS as our low (4 CIMs) and found this to be fine (no blown breakers, and I am pretty sure we had a couple pushing matches in there), although we didn't do a current analysis like you have done.
I personally would go with the 7.3 low, and 15.8 high given the options you have listed (assuming you are using a similar free speed to what we use), but then again we don't like slow robots. I should add that faster robots require more driver practice and good drive code to get the full advantage of them, so I would recommend picking speeds that fit your strategy/resources best.