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#1
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CIMs, Weight, and Max Speed
Will a 2 CIM per side drive train have a reduction in maximum speed when going from a 60 pound load to a 120 pound load? I am hoping to program autonomous using just the drive train and the electrical board while the rest of the robot is being built, but the algorithms I am using are dependent on the maximum speed of the robot.
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#2
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Re: CIMs, Weight, and Max Speed
I would expect a slight decrease in speed due to increased friction on carpet from the extra weight. This is assuming traction wheels. I would guess that Mecanum wheels would have a larger decrease in top speed.
However i would expect the biggest difference to be in acceleration. Dave |
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#3
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Re: CIMs, Weight, and Max Speed
Yes, you will have noticeably different performance between 60lbs and 120lbs.
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#4
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Re: CIMs, Weight, and Max Speed
You can use the JVN Mechanical Design Calculator to calculate more accurate (not perfectly accurate, but very good) speeds for your robot.
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#5
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Re: CIMs, Weight, and Max Speed
If we strap on some metal blocks in order to increase the weight of the drive train to 120 lbs, will the drive train act similarly, or will the location of the center of mass change things? Is there anything else wrong with this approach?
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#6
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Re: CIMs, Weight, and Max Speed
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#7
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Re: CIMs, Weight, and Max Speed
There will be some differences with air resistance(though probably insignificant), weight distribution, and weight transfer when moving. Though I'm not sure how big of a difference any of these would be. If you do strap on metal blocks, make sure they're secured well so they don't go flying.
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#8
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Re: CIMs, Weight, and Max Speed
And I would recommend using encoders. Any system not measuring the motor's output is highly theoretical and can be influenced negatively by a variety of real-world factors, including friction in the gearboxes, differing traction on each side due to weight distrobution, etc.
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#9
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Re: CIMs, Weight, and Max Speed
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The algorithm calculates smooth position and velocity curves in order to get the robot to follow a smooth path. As the robot follows the path, the algorithm compares the position measured by encoders to the theoretical position and adjusts motor output accordingly. The reason I'm asking about maximum velocity is because the algorithm requires the maximum velocity of the robot in order to generate the path and to set the motor outputs correctly. |
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#10
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Re: CIMs, Weight, and Max Speed
Quote:
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