Calculations for the new vehicle:

rev 1 I Weight Calculations: Let us calculate the approximate weight of the vehicle: Number of batteries, Nbat N bat 1. nos
(initially assumed)

Mass of each battery, Mbat M bat 30. kg

(from the selected battery discussed later)

M battot

M bat. N bat

M battot = 30 kg

Mass of Computer Battery, Mcbat

(initially assumed)

M cbat

10. kg

(initially assumed)

Mass of CPU, Mcpu M cpu 10. kg Mass of I-scan, Miscan

(initially assumed)

M iscan 10. kg

Number of monitors, Nmon N mon 2. nos Mass of each monitor, Mmon M mon 10. kg
(initially assumed)

M montot N mon. M mon M montot= 20 kg N mot 2. nos Number of motors, Nmotor

Mass of each motor, Mmotor M motor 15. kg

(initially assumed)

M motortot N mot. M motor M motortot= 30 kg

Mass of inverter
(initially assumed)

M inv 10. kg N cam 2. nos Number of cameras, Ncam

Mass of cameras, Mcam M cam 2.5. kg

(initially assumed)

M camtot N cam. M cam M camtot= 5 kg

Estimated mass of misc. items, Mmisc.

M misc 15. kg

Total mass Mitems is

M items M battot M cbat M cpu M iscan M montot M motortot M inv M camtot M misc M items = 140 kg M body 100. kg Estimated mass of the body is: Total mass would be, M = M M items M body M = 240 kg Mith factor of safety, factor_of_safety 1.25 M M. factor_of_safety The estimated total mass of the vehicle would be, M = 300 kg II Calculation of the speed requirements: Assuming the total wheel outer diameter to be Do D o 10. in D o = 0.254 m
(from the selected wheel discussed later)

Required speed of the vehicle, Sv S v 5. mph 1 S v = 2.235 m sec The required speed is about 5mph for the 1998 competition. But on the basis of our team leader's suggestion, let us design it for 10mph speed as the rules may change next year. Therefore, for 1 revolution the wheel would move, Do S 1 2. . 2
rev The required number of revolutions to get required speed, Nr: Nr Sv S1 rev S 1 = 0.798 m

sec rev N r = 168.068 min in revolutions per minute, Nr equals,

N r = 2.801

III Calculation of the required torque The motor has to overcome two forces: They are, 1) The frictional resistance due to the self weight of the machine and 2) The inertial resistance offered by the wheel Hence, let us divide this section into 2 sections correspondingly, namely,

III a Calculation of the resistance due to inertia of the wheel and III b Calculation of the force required to overcome self-weight. h 1. m 1. deg r 1. m III a Calculation of the resistance due to inertia of the wheel (Based on Dr. Hall and Brad Mathews's design of steering wheel (feb. 8, 1994) ) kg 1. 3 m dh 1. m III a.1 Design Explanation d 1. deg dr 1. m Radius, r Thickness, h

Density,

Picture 1.0

For the above solid cylinder of radius, r, thickness, h and density, , dv r. dr. d. dh dm . dv Mhere, r 2 J r dm 0 h 2. r 2 J r . . r dr d dh 0 0 0 r h 1. m r 3 . J h. 2. . r dr 0 1. deg 0 r 1. m kg 1. 3 m ........................................(equation 1.0) 4 . . ( r ) . h J 2

Now, Assuming the tire we use to be as follows,

Tire, h

Rim, h1

Web, h2 R3 R1

Picture 2.0

Let, as shown in the figure, R1 - be the radius of the rim, R2 - be the radius of the tire, R3 - be the radius of the web, h1 - be the thickness of the rim, h - be the thickness of the tire, h2 - be the thickness of the wheel, Then, R 1 1. m R 2 1. m R 3 1. m h 1 1. m h 2 1. m The total inertia equals the sum of the inertia of the rim, tire and the web. h 3 1. m If the density of rim,wheel be 1 and tire be 2, kg 1 1. 3 m The inertia due to the rim, say Jrim, would be,
J rim
4 . 1. h 1. R 1 ( 2. g) 4 . 1. h 2. R 3

and

R3

From equation 1.0

J web

2. g
4 . 1. h 2. R 2 2. g

From equation 1.0

J tire

R1

From equation 1.0

J total J rim J web J tire Now, let us substitute the values we have:

The density of steel varies between 5700 kg/m3 to 5950 kg/m3 In order to over-design, let us assume, kg 1 5950. 3 m The density of tire-rubber varies between 400 kg/m3 to 865 kg/m3 In order to over-design, let us assume, kg 2 865. 3 m A wheel was selected by searching various catalogues. The parameters looked for selecting were, 1. 2. 3. inertia 4. The wheel should withstand rotations to give 10mph Mheel diameter should be 12 to 16 inches in diameter. The wheel should withstand about 220 kilograms The wheel should not be solid - but an inflatable one because, it reduces the

The following wheel was selected:

Stock No. 2Z273 from, Grainger Industrial and Commercial Equipment and Supplies Reference General catalogue number 388, Page: 2270. Specifications: Tire Size : . 4.8x4x08 Ply : 4 Outer diameter : D o 10. in that is, D o = 0.254 m Lbs capacity : 330. lb = 149.685 kg Hub width : 6. in = 0.152 m Fits axle : 5. in 8 Price : 27.05 $ Shipping weight : 8.3. lb = 3.765 kg Maximum speed : km 15. mph = 24.14 hr Substituting values : h 1 3.5. in Dayton heavy-duty Pneumatic tire wheels

h 1 = 0.089 m h 2 2. in h 2 = 0.051 m h 4.1. in h = 0.104 m R 1 4. in R 1 = 0.102 m R2 Do 2 R 2 = 0.127 m R 3 3. in R 3 = 0.076 m

The inertia of rim equals: 4 4 . 1. h 1. R 1 R 3 J rim 2. g 3 2 J rim = 6.172 10 kg m sec The inertia of web equals: 2 J web = 0.16 kg m sec
2. g The inertia of tire equals: 4 4 . 2. h 2. R 2 R 1 J tire 2. g 3 2 J tire = 1.081 10 kg m sec J web
4 . 1. h 2. R 3

And the total inertia is : J total J rim J web J tire Therefore, the inertial force, Jtotal is :
J total = 8.885 10
3

kg m sec

III b Calculation of the force required to overcome self-weight. The co-efficient of static friction, between rubber and concrete varies between : 0.6 < < 0.9 Over designing the vehicle, let us assume, 0.9 Estimated mass of the vehicle, M is : M = 300 kg Force required to overcome friction is given by, F f . M. g
F f = 2.648 10
3

kg m sec

or 3 F f = 2.648 10 newton Therefore the torque to be supplied at the end of the wheel to overcome the limiting value of the static friction is : T friction F f. R 2 . T friction= 336.27 newtonm

Where, the radius of the wheel R2 equals

R 2 = 0.127 m

IV Determination of the angular acceleration required in the motor : Assuming that we move as follows:

Sv

Velocity, V In metres /sec 0 2 4 6 8

Time t in seconds.
Picture 3.0

Where, Sv is the required maximum speed of the vehicle

sec So, the maximum speed is acheived in t seconds: t 8. sec Therefore, the required acceleration a is Sv a t m a = 0.279 2 sec that is, a rev = 0.35 2 S1 sec that is, angular acceleration equals, a. 2. S1 rad = 2.2 2 sec V Determination of the inertial torque, reflected through the gear train: The maximum speed at which the wheel is to rotate is : rev N r = 168.068 min The motor may most probably rotate at speed, say Nmotor: S v = 2.235 m

rev 3030. min From motor specified speed (selected later) Then, the required gear reduction would be : N motor i floor 1 Nr i = 19 Say, i 20 So, the reflected inertia through the gear train is : N motor 1 J inertiaatmotor J total. i 5 2 J inertiaatmotor= 2.221 10 kg m sec
2

VI The torque reflected through the gear train to overcome static frictional force . 1 T frictionthrugear T friction i . T frictionthrugear 16.814 newton m =
J motor
2 1. kg. m

VII Determination of Total torque that the motor needs to overcome: 2 J transmission 1. kg. m The total torque required to move the vehicle can now be determined from: . T ftom 1. newtonm .a . T total J motor J transmission J inertiaatmotor . 2 T frictionthrugearT ftom Where, Ttotal = Jmotor = Jtransmission = Jinertiaatmotor = a = = Tfrictionthrugear Tftom
J motor
(Assumed)
2 J transmission .001. kg. m 2 .2. kg. m

Total torque, Inertia offered by the rotor, (data given by the catalogue-discussed below) Inertia due to the power transmission , (assumed) Inertia of the wheel reflected at motor end, acceleration required, angular acceleration, = Torque to overcome the static friction, reflected through power transmission and = Frictional torque of motor. (assumed)

(Assumed) (Assumed)

. T ftom .001. newtonm T frictionthrugear 16.814 kg m sec = J inertiaatmotor= 2.221 10 a = 0.279 m sec rad = 2.2 2 sec
2 5 2 2 2

kg m sec

Therefore, Ttotal equals: T total = 26.614 newton. m The torque that each motor has to meet is: T total T mot N mot T mot = 13.307 newton. m Hence the following motor was selected: Brush type servo motor with encoder (Electro-Craft make) Type No.: 0723-01-045 From Page, 139, Electro-craft Product Catalogue Phone: 1-800-328-3930 Maximum torque = 14.03 N-m Maximum Continuous speed = 3030 rpm VIII Calculation for the number of batteries required The co-efficient of sliding friction, between rubber and concrete is : s < 0.2 Over designing the vehicle, let us assume, s 0.2 Estimated mass of the vehicle, M is : M = 300 kg Force required to overcome friction is given by, F f s. M. g
F f = 588.399 kg m sec
2

or F f = 588.399 newton Lengthtrack 1000. m Assuming the track length to be, say : energy consumed to go round 1 round is: W 1 F f. Lengthtrack 5 . W 1 = 5.884 10 newtonm Assuming we may go round the track in say : Times 5 Total length moved is : . Lengthtot TimesLengthtrack
Lengthtot = 5 10 m Total energy consumed is: W tot F f. Lengthtot 6 W tot = 2.942 10 newton. m 6 W tot = 2.942 10 joule
3

IX Battery Selection: The following battery was selected: From: Michael Tire Co. 1217 Ellis St., Cincinnati, Ohio 45223-1810 Ph: 681-2288

Battery Specifications: 12 V Marine Deep Cycle Battery. 27 M SCS-225

13.25" x 6.8" x 9.75" About 66 lbs 130 Amp-hour 7.1 hours supply at 15 amps and 12 volts.
7. hr Current 15. amp Volt 12. volt Timeo

Total energy output by the battery is : . . E tot CurrentVoltTimeo

E tot = 4.536 10
6

joule

Therefore the total number of batteries required may be : W tot N bat E tot N bat = 0.649
N bat> 1