Quote:
Originally Posted by jojoguy10
I'd be very interested to know how it performs at about 150lbs (maximum robot weight is 154lbs)
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The gearing was selected very conservatively to ensure that we're on the rising side of the power output curve.
The current gearbox is 50:1. Mini-CIM output torque is listed at 1.4 N*m. Our winch drum is 1.25'' diameter, so .625'' radius.
Neglecting friction, we have:
(150 lbs * .625'')/(1.4 N*m * 50) = ~15% of stall torque.
Now, I have really no idea how big the frictional losses actually are in this system, but I don't think there's any way they'll take us from 15% motor loading to over 50% (which is peak power, i.e. the loading for which this gearing provides optimal climb rate).
Fully-loaded climb rate (using the frictionless numbers) is somewhere around 6'' per second.
Upon reflection, we could probably gear it a bit faster (we had done the math for the gearbox when we were considering a larger-diameter winch).