P09203 RP1 Motor Module Gen 2

Overview

Early part selection

Bearing verification Where: Assume: From Specs: Calculation: P = Pressure (psi) Load = The load applied to the bearing (lb) Dia = The shaft diameter (in) L = The length of the bearing (in) V = Velocity of shaft (ft/min) ω = Angular velocity of shaft (rpm) PV = Bearing rating Assume: Shaft Dia = 5/16” Bearing Length = 3/8” Wheel Dia = 3” From Specs: 7.348 lb loading per motor module 336 rpm max shaft speed Calculation: P = 62.7 psi V = 27.5 fpm PV = 1724.9 Bearing rating: PV = 3000

Motor verification Assume: DC motor: Total Mass: 3.33 kg Rotating mass: 2 kg Friction: Unknown Wheel radius: 1.5” or .0381 m Driver gear: 60 teeth Driven gear: 40 teeth DC motor: Linear relationship between the torque and rpm of the motor From motor specs: Stall torque: 388.85 oz-in or 28000 gf-cm Free load rpm: 65 rpm

Motor verification Simulink Model: Simulink velocity profile: Result: The motor selected by team P9204 is within the acceptable velocity range, and far exceeds the acceleration requirement.

Need to complete Motor selection Refine motor verification assumptions Gear verification Wheel verification Structural material selection Turntable selection/design Steering drive train selection/design Steering analysis/verification