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#16
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Re: pic: 2 Speed Switching Module
Quote:
CIM normal load = 4320 rpm Torque = 64 in-oz’s Ff= (c.o.f.) * Fnorm T= r * Ff Ratio between high and low gears is approximately 1:2.5 These numbers were calculated using the max weight of a full robot , 150 lbs. 4” Traction Wheel (C.o.f. = 1.25 – 1.5) Low- 1:30 gear ratio, 6000 in-oz’s torque, 2.5 ft/sec, 144 rpm ( before slipping occurs at 6056 oz-inches) High- 1:12 gear ratio, 2500 in-oz’s torque, 6.3ft/sec¸ 360 rpm 6” Omni Wheel (C.o.f. =1) Low- 1:18 gear ratio, 4000 in-oz’s torque, 6.0ft/sec, 230 rpm High- 1:7.4 gear ratio, 1800 in-oz’s torque, 15.25ft/sec, 580 rpm (forward/backward direction only) Slipping occurred at 10.7nM and at 12.7Nm depending on the tread material, so these projected ratios have the torque coming in lower than that value. If the math proves to be grossly off the only true loss is in the traction wheel. So the sprocket ratio from Omni to traction would simply be changed and that should solve any issues with stalling or being too slow and not gaining torque. Any corrections of the math are welcomed, better to fix it now before the pieces are made/ordered. Last edited by crazyStone : 27-09-2011 at 17:24. |
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