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--- robots:armadillo:hardware:gearratio [2012/08/01 10:36]
claes [Armadillo - Gear Ratio]
+++ robots:armadillo:hardware:gearratio [2021/08/14 04:21] (current)
@@ Line 17: / Line 17: @@
 ===== Gears =====
-The beltmodule has the following gears
+The beltmodule has the following gears from the motor to the drivewheel
   *$ N_a=22 $
   *$ N_b=80 $
   *$ N_c=17 $
   *$ 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
-$$R_{belt/drivewheel}=\frac{3.12}{0.4048}=\frac{0.9966}{0.13}=\frac{0.4966}{0.065}= 7.6394$$
-$$R=\frac{N_b}{N_a}*\frac{N_d}{N_c}*R_{belt/drivewheel}=\frac{80}{22}*\frac{45}{17}*7.6394=\frac{1800}{187}*7.6394=73.5347 $$
+$$R=\frac{N_b}{N_a}*\frac{N_d}{N_c}=\frac{80}{22}*\frac{45}{17}=\frac{3600}{374}=\frac{1800}{187}=9,625 $$
+From the divewheel to the motor the ratio is
+$$G=\frac{N_a}{N_b}*\frac{N_c}{N_d}=\frac{22}{80}*\frac{17}{45}=\frac{374}{3600}=\frac{187}{1800}=0,10389$$
 <file matlab gearing.m>
@@ Line 43: / Line 40: @@
 Nd=45; %large chain cog on driveshaft 2
-%drive wheel
+R = Nb/Na*Nd/Nc
-Dd = 0.13;  %diameter in meters
+G = Na/Nb*Nc/Nd
-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)/3
-%Rel_O = Od/Ob;
-%Rel_D = Dd/Db;
-%Rel_R = Rd/Rb;
-R = Nb/Na*Nd/Nc*Rel
 </file>

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