1. P09203 RP1 Motor Module Gen 2

2. Overview

3. Early part selection

4. 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 =
Bearing rating: PV = 3000

5. Motor verification Assume: DC motor: Total Mass: 3.33 kg
Rotating mass: 2 kg
Friction: Unknown
Wheel radius: 1.5” or 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: oz-in or gf-cm
Free load rpm: 65 rpm

6. 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.

7. 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