1. AAE450 Spring 2009 Locomotion Phase: Propulsion System X1 February 5, 2009 Ryan Lehto Propulsion Locomotion CAD Designer

2. AAE450 Spring 2009 Drive Train Sizing for X1  4 Independent Drive Wheels  Selection Criteria –Power Input/ Output –Size/ Weight –Strength –Environmental Capabilities –Cost Ryan Lehto Propulsion

3. AAE450 Spring 2009 Results  Motor: Maxon DC Precious Metal Brushes Motor –Max Output: 2.5W  Gearing: Planetary Gearhead Ratio of 3373:1  Controller: LSC 30/2, linear 4-Q-Servoamplifier 30 V / 2 A  Energy Needed: ~42.82 W*hrs  System Mass: 1.2742 kg  Mission Time: 0.03m/s  4.63 hrs  Max Temp.: Up to 125°C  Total Cost: 4*(Motors + Gears) + Controller= *$694.00 Ryan Lehto Propulsion *Based on current exchange rate of 1.00 EUR=1.28 USD

4. AAE450 Spring 2009 Back-up Ryan Lehto Propulsion Motor Power Input (W) Efficency (%) Power Nomial Output (W) Mass (g) No-load Velocity (RPM) Dia (mm) Length (mm)Cost RE 13 Ø13 mm, Precious Metal Brushes 1184664.452578%2.521 10100 1331.4 50.67 Eur GearingRatioEfficencyMass (g)Diameter mmLength mmCost 352369- Planetary Gearhead GP 13 A Ø13 mm, 0.2 - 0.35 Nm, Metal Version, Sleeve Bearing 3373:162%231331.457.73 Eur ControllerCost LSC 30/2, linear 4-Q-Servoamplifier 30 V / 2 A in module housing108.80 Eur All information from http://shop.maxonmotor.com/ishop

5. AAE450 Spring 2009 Ryan Lehto Propulsion Motor Efficiency: 78.3% Gearing Efficiency: 68%

6. AAE450 Spring 2009 Ryan Lehto Propulsion Power Needed Per Wheel: 0.77325 WMotor Has Max RPM 10100 Gearing Reduction: 3373:1 Max Wheel Rotation: 2.99

7. AAE450 Spring 2009 Ryan Lehto Propulsion Sources: 1.Clark, D., & Owings, M. (2003). Building Robot Drive Trains. New York. McGraw-Hill 2.Maxon Motor website: http://www.maxonmotorusa.com/http://www.maxonmotorusa.com/ 3.Currency Exchange Rate Found at: www.xe.comwww.xe.com