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robots:armadillo:hardware:gearratio
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| Both sides previous revision Previous revision Next revision | Previous revision | ||
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robots:armadillo:hardware:gearratio [2012/03/05 13:31] claes [Gears] |
robots:armadillo:hardware:gearratio [2021/08/14 04:21] (current) |
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| Line 7: | Line 7: | ||
| $$R=\frac{N_b}{N_a}*\frac{N_d}{N_c} $$ | $$R=\frac{N_b}{N_a}*\frac{N_d}{N_c} $$ | ||
| + | /* | ||
| To get the correct gear-ratio the ratio between the drivewheel and the belt also needs to be taken in to account. The belt and drivewheel can be seen as 2 cirkles, the ratio is the the ratio between circumference , diameter or radius. | To get the correct gear-ratio the ratio between the drivewheel and the belt also needs to be taken in to account. The belt and drivewheel can be seen as 2 cirkles, the ratio is the the ratio between circumference , diameter or radius. | ||
| $$R_{belt/ | $$R_{belt/ | ||
| + | |||
| + | */ | ||
| The complete solution for the gear-ratio in the beltmodule is | The complete solution for the gear-ratio in the beltmodule is | ||
| - | $$R=\frac{N_b}{N_a}*\frac{N_d}{N_c}*R_{belt/ | + | $$R=\frac{N_b}{N_a}*\frac{N_d}{N_c}$$ |
| ===== Gears ===== | ===== Gears ===== | ||
| - | The beltmodule has the following gears | + | The beltmodule has the following gears from the motor to the drivewheel |
| *$ N_a=22 $ | *$ N_a=22 $ | ||
| *$ N_b=80 $ | *$ N_b=80 $ | ||
| - | *$ N_c=10 $ | + | *$ N_c=17 $ |
| - | *$ N_d=20 $ | + | *$ N_d=45 $ |
| - | The drive wheel - all in m. | + | |
| - | * $ C_d=0.4084 $ | + | |
| - | * $ D_d=0.13 $ | + | |
| - | * $ R_d=0.065 $ | + | |
| - | The Belt - all in m. | + | |
| - | * $ C_b=3.12 $ | + | |
| - | * $ D_b=0.9931 $ | + | |
| - | * $ R_b=0.4966 $ | + | |
| which gives the following ratio | which gives the following ratio | ||
| - | $$R_{belt/ | ||
| - | $$R=\frac{N_b}{N_a}*\frac{N_d}{N_c}*R_{belt/ | ||
| - | <file matlab | + | $$R=\frac{N_b}{N_a}*\frac{N_d}{N_c}=\frac{80}{22}*\frac{45}{17}=\frac{3600}{374}=\frac{1800}{187}=9, |
| + | |||
| + | From the divewheel to the motor the ratio is | ||
| + | |||
| + | $$G=\frac{N_a}{N_b}*\frac{N_c}{N_d}=\frac{22}{80}*\frac{17}{45}=\frac{374}{3600}=\frac{187}{1800}=0, | ||
| + | |||
| + | <file matlab | ||
| close all; clear all; | close all; clear all; | ||
| Line 37: | Line 37: | ||
| Na=22; %Small belt cog on the motor | Na=22; %Small belt cog on the motor | ||
| Nb=80; %large belt cog on driveshaft 1 | Nb=80; %large belt cog on driveshaft 1 | ||
| - | Nc=10; %small chain cog on driveshaft 1 | + | Nc=17; %small chain cog on driveshaft 1 |
| - | Nd=50; %large chain cog on driveshaft 2 | + | Nd=45; %large chain cog on driveshaft 2 |
| - | + | ||
| - | %drive wheel | + | |
| - | Dd = 0.13; %diameter in meters | + | |
| - | Rd = Dd/2; % Radius in meters | + | |
| - | Od = Dd*pi; % circumference | + | |
| - | + | ||
| - | %Belt | + | |
| - | Ob = 3.12; % circumference in meters | + | |
| - | Db = Ob/pi; % diameter in meters | + | |
| - | Rb = Db/2; % Radius in meters | + | |
| - | + | ||
| - | %relationship - %This is the one needed | + | |
| - | RelO = Ob/Od; | + | |
| - | RelD = Db/Dd; | + | |
| - | RelR = Rb/Rd; | + | |
| - | + | ||
| - | Rel = (RelO+RelD+RelR)/ | + | |
| - | %Rel_O = Od/Ob; | + | |
| - | %Rel_D = Dd/Db; | + | |
| - | %Rel_R = Rd/Rb; | + | |
| - | R = Nb/ | + | R = Nb/Na*Nd/Nc |
| + | G = Na/Nb*Nc/Nd | ||
| </ | </ | ||
robots/armadillo/hardware/gearratio.1330950673.txt.gz · Last modified: 2021/08/14 04:20 (external edit)
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