Before I place my order I wanted to see if I could get some validation on my motor selection as this is my first robot.
Here are my requirements:
1) Robot Weight = 10lbs (actually anticipate only 5lbs, but my requirements may grow in the future). 2) Vehicle is tracked with an effective wheel radius of 1.1875in (3.01625cm). (VEX track kit) 3) Each track will be independantly driven, so 2 x motors. 4) Robot will be operated on an outdoor terrain. 5) Gearhead motors are preferred in order to avoid having to build any custom gearing system. 6) Low robot speed required. Target in the 100 to 200 rpm neighborhood yielding 62 ft/min (0.7 mph) to 124 ft/min (1.4 mph).Here is my logic on motor selection:
Since I have an RPM target, I now want to know the max torque I require. So to start, I decided to calculate what the highest amount of torque is that I could ever require in an imaginary scenario of the robot climing a 90 degree wall. Knowing that will give me an upper limit to help narrow down my choices. So solving for a dead lift I get:
Max Linear Force = Torque / Wheel Radius
10 lbs = Torgue / 1.1875in Torque = 11.875 in*lbs Required torque per motor = 11.875 in*lbs / 2 motors = 5.9375 in*lbs / motorSo the way I approached this is that if I get motors in the neighboorhood of ~6 in*lbs (~6900 g*cm) of torque and that are already effectively geared to between 100 - 200 rpms I should be all set with probably some extra torque to spare in a real world setting even after considering efficiency and loss to friction that I have ignored.
So far I have found motors below my needs and above my needs all in the ~$25 range... but nothing just right. I am evaluating motors by looking for ones with stall torques around 6 in*lbs and RPM @ max efficiency of between 100 to 200. I've tried to do my homework beore posting, but I feel like I need some expert advice on this before I make a purchase and perhaps some motor recommendations.
Here is the closest I have found: