In FIRST Steamworks the 2017 game involved the robots climbing a rope 4 feet into the air. Hoya Robotics Team 4152 used two climbing mechanisms that year so it is a perfect case study for gear and motor combinations. FYI - this page is being worked on. ## Trillium The RobotTrillium was 100lb robot with a 14lb battery and 20lb bumpers for a total mass of 134lb (595.64 Newtons). This was calculated using: F = mg where F is the force of gravity, m is the mass of the object in kg and g is equal to 9.8 m/s^2 on the surface of the Earth). The challenge was to climb 4ft (1.22 Metres) of rope during the last 30 seconds of the match. Ideally we want to ensure the rope climbing is 15 seconds or less - this gives us time to move the rope into position and catch the rope.
## Climbing Mechanism #1:The climbing mechanism was a shaft 2" (5.08cm) in diameter powered by a bag motor with a 256:1 gear reduction.
## Bag Motor Specifications
## FormulasElectrical: P = I*V P - Power in Watts I - current in amperes (or amps) V - electric potential in Volts Mechanical:
Torque = Force * Distance or Force = Torque/DistanceWork = force x Distance Power = Work/Time ## CalculationsOur robot uses a 12 Volt battery and the fuse for the motor circuit is rated at 40 amps - we want to ensure we are only using 35 amps to not risk tripping the fuse. P = I*V P = 35amperes*12 Volts P = 420 Watts Power = force x Distance/ Time 420 Watts = force x 1.22m/15s 420 Watts * 15s = force x 1.22m 6300 = force x 1.22 m force = 5 163.93 Take into account the gear ration: force = 5163.93/256 force = 20.17 ## Climbing Mechanism #2:The climbing mechanism was a shaft 2" (5.08cm) in diameter powered by two mini-cim motors with a 42:1 gear reduction. ## Mini CIM Motor Specifications
## FormulasElectrical: P = I*V P - Power in Watts I - current in amperes (or amps) V - electric potential in Volts Mechanical: Torque = Force * Distance or Force = Torque/DistanceWork = force x Distance Power = Work/Time ## CalculationsOur robot uses a 12 Volt battery and the fuse for the motor circuit is rated at 40 amps - we want to ensure we are only using 35 amps to not risk tripping the fuse. P = I*V P = 35amperes*12 Volts P = 420 Watts Power = force x Distance/ Time 420 Watts = force x 1.22m/15s 420 Watts * 15s = force x 1.22m 6300 = force x 1.22 m force = 5 163.93 |

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