How to Calculate the Motor Torque for a Mobile Robot
When it comes to a mobile robot, having sufficient power to perform tasks is crucial, and the selection and calculation of power is a thoughtful process. In this discussion, we will explore how to calculate the power parameters of a mobile robot to facilitate the further discussion of selecting an appropriate power system.
Prior to calculations, we need to have a basic understanding or expectation of our robot's size, usage, and performance. Let's assume that we are creating a service robot that's intended for indoor use, with a chassis diameter of 400 mm. It's designed to achieve a speed of 1.2 m/s, carry a payload of 20 kg, and has four direct-drive wheels.The robot will operate on surfaces such as marble, wooden floors, or carpet.
1. Calculation of System Parameters
Firstly, we need to calculate the force required for the mobile robot. Under the robot's operating conditions, we need to overcome friction and acceleration forces. Assuming the robot is moving on a flat surface, we can calculate the frictional force using the formula F_{friction} = μN, where μ is the coefficient of friction, and N is the weight of the robot, which is the product of its mass and the acceleration due to gravity.
After consulting literature, we have found that the coefficient of friction for marble is μmarble=0.4, μwood=0.2, μcarpet=0.7. We will use the maximum coefficient of friction for the design, which is μ=0.7. Additionally, the mass of the robot is 20 kg, and the acceleration due to gravity is approximately 9.8 N/kg. Therefore, we can calculate the frictional force as follows: