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My philosophy has always been: If you want something, do it yourself ;-).
By now you should be able to understand what the paper says. So, why don't you take the graph, add in lables yourself, and make the description. That way you get whatever you want ;-).
As for the formula for the power curve, very simple. Power = force X velocity. You use the speed torque curve, and you multiply the force and velocity of each coordinate and you get the numbers for a power curve. The power curve is really just used to visualize the amount of power you have at each combination of force and velocity.
For the experiment, you can reduce the amount of voltage to the motor. Since motor's job is to transform electrical power to mechanical power, in the case if DC motor, it's proportional. If you give it 1/2 the voltage, the stall torque is 1/2 of the original stall torque at full voltage, and the free speed is 1/2 of the original free speed at full voltage. With those numbers you get a new speed/torque curve.
Then whatever number you measured for stall torque, just multiple by 2 if you used 1/2 of 12v, or multiply by 4 if you use 1/4 of 12v.
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Hardware Test Engineer supporting RE<C, Google.
1999-2001: Team 192 Gunn Robotics Team
2001-2002: Team 100, 192, 258, 419
2002-2004: Western Region Robotics Forum, Score Keeper @ Sac, Az, SVR, SC, CE, IRI, CalGames
2003-2004, 2006-2007: California Robot Games Manager
2008: MC in training @ Sac, CalGames
2009: Master of Ceremony @ Sac, CalGames
2010: GA in training @ SVR, Sac.
2010-2011: Mechanical Mentor, Team 115 MVRT
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