Fieldrobot: Difference between revisions
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==Torque needed at front wheels to turn them== | ==Torque needed at front wheels to turn them== | ||
(I have mixed the danish and english notation of "," and ".". This has been done deliberately to confuse the enemy ) | |||
Maximum is on grass and needs a torque of 2 Nm | Maximum is on grass and needs a torque of 2 Nm | ||
Revision as of 10:49, 11 September 2013
This page holds information about the Fieldrobot (Markrobot in danish)
Hardware
Gearing
There are 3 different types of gearing which can be changed by replacing the timing belt from the planetary gear to the wheel axel.The gearing can be 1:1, 1:1.5 or 1:2 (or in absolute values: 28:28, 19:28 and 14:28). The planetary gearbox has a gearing of 1:12.
The combination of timing belt length and teeth on the gears is:
Right side:
Gearing 19:28 timing belt length: 250 mm.
Gearing 28:28 timing belt length: 270 mm.
Gearing 14:28 timing belt length: 240 mm.
Left side:
Gearing 19:28 timing belt length: 260 mm.
Gearing 28:28 timing belt length: 280 mm.
Gearing 14:28 timing belt length: 245 mm.
Torque needed at front wheels to turn them
(I have mixed the danish and english notation of "," and ".". This has been done deliberately to confuse the enemy )
Maximum is on grass and needs a torque of 2 Nm
The measurements are as follows:
Black floor in the entrance:0.4kg*0,137 m * 10 N/kg=0,55Nm
On black rubber mat in the entrance:0.6kg*0,137 m * 10 N/kg=0.822Nm
On grate outdoors:1.0kg*0,137 m * 10 N/kg=1.37Nm
On cobblestone outdoors:1.0kg*0,137 m * 10 N/kg=1.37 Nm
On grass outdoors:1.4kg*0,137 m * 10 N/kg=1,918 Nm
On dirt outdoors: 0,7 kg*0,137 m * 10 N/kg=1 Nm
All measurements have been made by turning the wheel 90 degrees at minimum and the highest value is used.
