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that by looking at Equation 4, the voltage must also exceed the no-load current multiplied by the internal resistance for the motor to start turning
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Some motors advertise their no-load speed and not their no-load current If the motor s specifications list the internal resistance of the motor, the no-load current can be determined from equation 4 With these equations, as well as the gear ratio, wheel size, and coefficient of friction between wheels and floor, you can determine how fast the robot will move and how much pushing force the robot will have (How you actually determine this will be explained in 6) If you want the robot to go faster, you can either run the motors at a higher voltage or choose a lower gear reduction in the drive system Equation 5 is an important equation to know and understand, because it will have a direct effect on the type and size of the batteries that you will need By rearranging this equation, the current draw requirements from your batteries can be determined Equation 6 shows this new relationship
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For any given torque or pushing force, the battery current requirements can be calculated For worst-case situations, stalling the motors will draw the maximum current from the batteries Equation 7 shows how to calculate the stall current, where Istall is the stall current in amps The batteries should be sized to be able to deliver this amount of current Batteries that deliver less current will still work, but you won t get the full performance potential of the motors Some builders purposely undersize the battery to limit the current and help the motors and electronics survive, and others do this simply because they have run out of weight allowance For some motors, the stall current can be several hundreds of amps
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Another set of relationships that needs to be considered is the overall power being supplied by the batteries and generated by the motor The input power, Pin, to the motor is shown in equation 8 Note that it is highly dependent on the current draw from the motor The output power, Pout, is shown in mechanical form in equation 9 and in electrical from in equation 10 Motor efficiency is shown in equation 11 The standard unit of power is watts
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The output power is always less than the input power The difference between the two is the amount of heat that will be generated due to electrical and frictional losses It is best to design and operate your robot in the highest efficiency range to minimize the motor heating If the motor is able to handle the heat build-up, it might be best to design the robot (or weapon) to be operated at a higher percentage of the motor s maximum power (to keep the motor as light as possible) For example, a motor that is used to recharge a spring-type weapon might be fine if operated at near-stall load for just a few seconds at a time The maximum amount of heat is generated when the motor is stalled A motor can tolerate this kind of heat for short periods of time only, and it will become permanently damaged if it s stalled for too long a period of time This heat is generated in the armature windings and the brushes, components that are hard to cool by conduction Figure 4-1 shows a typical motor performance chart These charts are usually obtained from the motor manufacturer, or a similar chart can be created if you know the motor constants The motor shown in Figure 4-1 is an 18-volt Johnson Electric motor model HC785LP-C07/8, which can be found in some cordless drills The constants for this motor are shown in Table 4-1 This motor is discussed here as an example motor to describe how all of the motor constants relate to each other and how they affect the motor performance Figure 4-1 graphically displays how the motor speed decreases as the motor torque increases and how the motor current increases as the applied torque on the motor increases For this particular motor, maximum efficiency is approximately
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