Difference between revisions of "Floor Hugger Drive Train"
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(Created page with "= Motors = = Wheels = * 330 mm circumference * 330 mm/rev * 160 rev/min => ** 53 m/min or 0.9 m/sec ** 53 m/min / 1610 m/mile * 60 min/hr => 2.0 mph *") |
(→See Pololu Motor) |
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| − | = Motors = | + | = See Pololu Motor and Wheels = |
| + | |||
| + | * [[Calibrate_Phidgets_Odometry#Example_Results_-_Pololu_Motor]] | ||
| + | |||
| + | = Depreciated Motors = | ||
| + | |||
| + | DCM_1 from roboticsConnection.com | ||
| + | * 12V | ||
| + | * 130 mA | ||
| + | * 175 rmp no load | ||
| + | * Grear redution 1:40 | ||
| + | * Quadrature Encoder | ||
| + | * 480 pulses per output shaft revolution (I don't think this is correct) | ||
| + | * 6 mm shaft | ||
| + | |||
| + | == Tests == | ||
| + | |||
| + | rostopic pub -1 /cmd_vel geometry_msgs/Twist '[5,0,0]' '[0,0,0]' | ||
| + | |||
| + | {| | ||
| + | ! style="text-align:left;"| Rotations | ||
| + | ! Seconds | ||
| + | ! RPM | ||
| + | |- | ||
| + | |30 | ||
| + | |11.4 | ||
| + | |158 | ||
| + | |- | ||
| + | |50 | ||
| + | |18.4 | ||
| + | |163 | ||
| + | |- | ||
| + | |40 | ||
| + | |14.5 | ||
| + | |165 | ||
| + | |- | ||
| + | |25 | ||
| + | |9.3 | ||
| + | |161 | ||
| + | |- | ||
| + | !Average | ||
| + | | | ||
| + | |160 (roughly) | ||
| + | |} | ||
= Wheels = | = Wheels = | ||
| − | * 330 mm circumference | + | * 105 mm wheel from an old Vex kit => |
| + | ** 330 mm circumference | ||
* 330 mm/rev * 160 rev/min => | * 330 mm/rev * 160 rev/min => | ||
** 53 m/min or 0.9 m/sec | ** 53 m/min or 0.9 m/sec | ||
** 53 m/min / 1610 m/mile * 60 min/hr => 2.0 mph | ** 53 m/min / 1610 m/mile * 60 min/hr => 2.0 mph | ||
| − | * | + | * [https://en.wikibooks.org/wiki/Robotics/Design_Basics/Physical_Design#Wheeled_Platforms Wheeled Platforms] "... 1 m/sec is pretty fast for indoor robots." |
| + | * Take-away - This is one of the reasons this configuration is hard to control. | ||
Latest revision as of 11:13, 8 November 2016
See Pololu Motor and Wheels
Depreciated Motors
DCM_1 from roboticsConnection.com
- 12V
- 130 mA
- 175 rmp no load
- Grear redution 1:40
- Quadrature Encoder
- 480 pulses per output shaft revolution (I don't think this is correct)
- 6 mm shaft
Tests
rostopic pub -1 /cmd_vel geometry_msgs/Twist '[5,0,0]' '[0,0,0]'
| Rotations | Seconds | RPM |
|---|---|---|
| 30 | 11.4 | 158 |
| 50 | 18.4 | 163 |
| 40 | 14.5 | 165 |
| 25 | 9.3 | 161 |
| Average | 160 (roughly) |
Wheels
- 105 mm wheel from an old Vex kit =>
- 330 mm circumference
- 330 mm/rev * 160 rev/min =>
- 53 m/min or 0.9 m/sec
- 53 m/min / 1610 m/mile * 60 min/hr => 2.0 mph
- Wheeled Platforms "... 1 m/sec is pretty fast for indoor robots."
- Take-away - This is one of the reasons this configuration is hard to control.
