Calculate the torque required by the robot to move and achieve the rated velocity.

Robot weight (does not include payload)	60	kgs
Max weight of payload	12	kgs
Typical distance travelled (one way)	45	m
Time for travel – based on cycle time (max)	50	s
Number of trips per hour	5
Peak velocity allowed	1.5	m/s
Type of operating surface	concrete
Maximum time to achieve rated velocity	10	sec
Friction Coefficient Crr	0.015
Max gradient in operating surface	2.5	degrees
Motor efficiency – typical	90	%
Drive train efficiency	75	%
Resistance factor (for typical wheel )	1.1
Rated voltage of battery	12	V
Minimum hours of battery operation (between recharges)	2	hrs
Incremental power for both manipulator motors combined (as a portion of the drive motor power requirement)	10	%

Wheel Sizes Available – Radius (Metres)

0.12

0.15

0.20

Motor Configurations Available at 750 rpm (Torque)

1.2 N.m

1.5 N.m

2.2 N.m