The Motor

Stall Current
Terminal Voltage
Stall Torque
Free Run Current
Drive Train
Gear Ratio
Gear Efficiency
gear pitch
motor pinion teeth
wheel gear teeth
between centres distance
min possible wheel diameter
min desired wheel diameter
Wheel Diameter
Number of Motors

Cillimus
Litmus-lite Litmus
Litmus
Litmus
RF300D
2017 Maxon2017-936 2017-937 2017-938
Amps
0.265
0.17045
0.17045
0.17045
0.17045
Volts
3
3
3
3
3
Nm
0.0024 0.0012625 0.0012625 0.0012625 0.0012625
Amps
0.022
0.022
0.022
0.022
0.022

4
80%
0.5
12
48
15
0.0260
0.0280
0.028
2

4
80%
0.5
12
48
15
0.0260
0.0280
0.028
2

The Batteries
Number of Cells
Cell Voltage
Cell Resistance
Cell Capacity

10*NiMH
14
Volts
1.2
Ohms
0.1
Ahr
0.110

4
3.6
0.1
0.300

The Mouse
mass
Design Speed
Design Acceleration
Motor Driver Voltage Drop
Processor/Sensor Current

kg
m/s
m/s/s
Volts
Amps

0.25
4
5
2
0.075

0.225
4
4
1
0.075

0.37
2
4
1
0.075

0.37
2
4
1
0.075

0.37
1.5
4
1
0.075

Derived Constants
Motor Constant
Motor Resistance
Battery Voltage
Battery Resistance

Ohms
Volts
Ohms

0.0091
11.32
16.8
1.4

0.0074
17.60
14.4
0.4

0.0074
17.60
12
1

0.0074
17.60
14.4
1.2

0.0074
17.60
7.2
0.3

15613
5.72
MAYBE
10919
10.350

17285
6.33
MAYBE
10919
8.465

14189
2.84
MAYBE
9999
7.751

17285
3.46
MAYBE
9999
7.751

7997
1.60
MAYBE
7499
5.814

0.625
0.00875
0.0027
0.302
3.42
11005
4.03
YES
0.0758
21.65

0.45
0.0063
0.0020
0.266
4.68
10937
4.01
YES
0.0361
11.46

0.74
0.012728
0.0018
0.239
4.20
8058
1.61
NO
0.0667
10.47

0.74
0.012728
0.0018
0.239
4.20
11011
2.20
YES
0.0812
12.76

0.74
0.012728
0.0018
0.239
4.20
2365
0.47
NO
0.0376
5.90

Speeds
Motor Maximum Speed
Mouse Maximum Speed
Is it fast enough?
Motor speed at design speed
Back EMF at design Speed
Acceleration
Accelerating Force (per wheel)
Accelerating Torque (wheel)
Motor Torque (per motor)
Accelerating Current (each)
Min accelerating voltage
Max Acc ang. vel. (motor)
Max acc Speed (mouse)
Now is it fast enough?
Stall Torque at wheel
peak acceleration

mod

mm
m
m
m

RPM
m/s
RPM
Volts

N
Nm
Nm
Amps
Volts
RPM
m/s
Nm
m/s/s

9
80%
0.3
12
108
18
0.0344
0.0280
0.0344
2

9
80%
0.3
12
108
18
0.0344
0.0280
0.0344
2

9
80%
0.3
12
108
18
0.0344
0.0280
0.0344
2

10*NiMH 12*NiMH 6*NiMH
10
12
6
1.2
1.2
1.2
0.1
0.1
0.05
0.300
0.300
0.300

2990617 4.6 32.0747884 0.552 0.Electrical Worst Case Current Worst Case battery Life Peak Electrical Power Peak Mechanical Power Efficiency Amps mins Watts Watts 0.1234599 5.7 29.5075243 2.8752603 70% 63% 57% 64% 30% .7 32.9819141 4.6 32.552 9.959477 6.2506851 6.607 0.552 0.936849 7.3962891 2.679 0.6 8.

36 18082 3.0280 0.0012625 0.34 0.022 0.9 0.26 3 5 1 0.022 0.5 12 75.0028 0.110 0.0361 9.03965 0.2 1.17045 0.0264 2 10*NiMH 10*NiMH 10 10 1.4214 0.384 6.53 MAYBE 9398 7.9 0 0.349 14189 4.6 0.55 17285 6.60 12 0.0012625 0.92 0.028 2 4*LiPo 4 3.76 8351 3.05 0.0280 0.1220 0.0025 0.300 20 80% 0.0306 13.0260 0.23 12 0.005562 0.33 MAYBE 8189 6.06 YES 0.5 0.2 0.172 4 4.285 29718 6.65 0.394 3 3 6 0.0039 15.075 0.0029 4 80% 0.2 0.0074 17.52 MAYBE 18240 7.26 3 5 1 0.60 14.3 80% 0.95 NO 0.5 12 240 63 0.300 0.1481 9.365 0.17045 0.055 0.50 .0074 17.89 6113 1.0011 0.05 0.0280 0.4 0.0091 0.286 4.05 0.thalamus thalamus MITEE10 2017-938 2017-938 1516006SR 0.0398 0.5 12 48 15 0.65 0.075 0.122 2 6.97 NO 0.6 21.335 5.00152 0.

843 0.6 6.4 24.865968 4.744 21.2 10.9711831 3.1712784 48% 43% 0.289442 7.360571 4.622 10.177502 61% .0.

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