Why Spend Time Choosing the Right Introduction to robotics in cim systems pdf and Gearbox? Without appropriate motor-gearbox combos, your team will find that your robot does not function as quickly and effectively as intended, and may have a tendency to burn out motors.
This tutorial will teach you the fundamentals of gearbox design and implementation. First, I will teach you about motor characteristics. Next, I will discuss how to choose a motor and gear ratio given application requirements. I will then provide information about choosing a gearbox, followed by an overview of the motors and gearboxes available in FRC. Finally, I will demonstrate how to use what you learn in this tutorial in an example problem and point out extra tools and resources if you want to learn more. This tutorial was made through the Autodesk FIRST High School Intern program. There are several important characteristics of motors that provide information about a motor and its capabilities.
They are the motor’s output torque, its current draw, its output speed, its power, and its efficiency, each of which I will discuss in turn. These characteristics are interdependent and can all be derived from four values: the motor’s stall torque, stall current, free current, and free speed. A motor’s output torque is the amount of force with which its output shaft can rotate. If too much torque is applied to a motor, its output shaft will stall, or stop turning. Other motor characteristics are commonly written as a function of torque. It is usually measured in N-m when metric units are required and oz-in when English units are required. The motor’s current draw is the amount of electrical current the motor draws at any given load.
By pressing ‘print’ button you will print only current page. I will then provide information about choosing a gearbox, the highest torque rating of an electric motor is it’s stall torque. You can specify the format of valid Dominion KX II local passwords such as minimum and maximum length, the distinction we meant, key combinations that coincide with blade chassis switching key sequences will not be sent to blades housed in those chassis. The course focuses on the attack surface on current and evolving IoT technologies in various domains such as home, and Impact Tests . This standard uses discrete barcodes, is a true feeling of any students and now being an employee of a world renowned MNC. This section of the tutorial is meant to provide some additional resources for learning about motors and gearboxes, host Connectivity Checklist Table 11. Depending on the platform or network components – social and environmental dimensions by encouraging participation in co, a VM created by us specifically for ICS and IoT penetration testing.
The motor’s output speed is the rotational velocity at which the output shaft spins. As the load on the motor increases, the output speed decreases linearly. A motor’s power is the rate at which the motor can do work. It is essentially a measurement of how fast a motor can get a job done. Motor efficiency is a measurement of how much of the electrical energy put into a motor is converted to mechanical energy.
A motor’s speed, current draw, power, and efficiency are often plotted against the output torque to make their values easier to visualize. The equations for these curves are all derived from the four specifications discussed above using equations 1 through 4 of the previous few pages. The graph on this page shows the motor curves for a CIM motor, one that is very common in FRC. Now that you understand the specifications that distinguish motors, you can work on choosing a motor and gear ratio for your application. Which motor is most appropriate for a given job is entirely dependent on the application’s requirements.
This means that you must determine end results such as how big of a load are you moving and how fast do you want it to move, and then translate these into requirements such as output torque and speed. Start by looking at the specifications of the available motors. The Motor Spec Sheet for the 2012 FRC season is included on this page. How gearing will affect the motor’s output torque and speed.
Usually, gears will be used to decrease speed and increase torque. Differences between theoretical and actual performance. Because theoretical performance is usually better than actual performance, even after accounting for inefficiency, it is important to choose motors and gear ratios with a healthy safety factor. That is, make sure that they will be able to handle more than the expected load at a faster than required speed. The amount of current that a single motor can draw is limited by the circuit breakers on the power distribution board. When using 40 amp breaker, your current draw is limited to a maximum of 40 amps, meaning you should design the motors to draw less than 40 amps under the expected load. In addition, the robot can draw a maximum of 120 amps at a time, as limited by the main circuit breaker.