MECHANICAL-ENGINEERING BASED

DESIGN OF THE TRANSPORTER:

DEVICE GEOMETRY, DRIVE SYSTEMS, POWER REQUIREMENTS,
FRICTION COEFFICIENTS

R. S. Shaefer, C. Kang, T-C. Tsao

MAE-162D

Mechanical & Aerospace Engineering Department

University of California Los Angeles
Winter 2016

MAE-162D – R. S. Shaefer, C. Kang, T-C. Tsao -- W’16

 LECTURE TOPICS

Design Concept Overall Geometry

Drive System for a Vehicle Climbing a

Ramp

Wheel Friction Coefficients

Motor Power Requirements

Gear Ratio, Battery Life

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 2

 Accurate and reliable delivery of golf ball
Limitations: 3 min/run
Budget: $375

Length ?
Width ?
Height ?

Wheelbase & Track ? Need to establish

necessary traction Wheel size &
force (friction Material?
coefficient)

Need to know
required power:
→ use the
“right” motor

Want to supply sufficient traction force

at minimum required power
 CONCEPT DESIGN DECISIONS
• At this stage you are developing the mechanical
portion of your project (the control and feedback will
come later)
• Let’s assume your device is able to find the ramp
entrance and that you have already thought about
how the device will:
steer (mechanical aspect only)
“move” up the ramp
turn the ramp corners
stop in the unloading platform
deliver the ball
turn around…

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 4

 HIGH-LEVEL CONCEPT DESIGN DECISIONS
Next you need to consider an number of high-level design parameters,
such as:
Overall device dimensions (height, length, width ?)
Drive system (AWD, FWD, RWD ?)
Speed and load capacity (weight and time per run ?)
Wheel position (track & wheel base ?)
Wheel size (diameter ?)
Wheel material (necessary friction to climb)
Motor power requirements (speed and # of runs)
Gear ratio (speed/power)

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 5

 GOLDEN RECTANGLE
• The Golden Rectangle, discovered by Pythagoras, is a
rectangle whose sides are in proportion such that when a
square is cut from the rectangle, the remaining rectangle
has the same proportions as the original rectangle,
i.e., a/b = 1.618

b b

a a

The Golden Rectangle can help the engineer initially sketch

concepts that have a greater chance of being realizable.

If the pattern of subtracting squares continues and a spiral curve is drawn by linking together
circular arcs whose centers are the corners of the squares, the spiral continues to infinity.

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 6

 HIGH-LEVEL CONCEPT DESIGN DECISIONS
Next you need to consider an number of high-level design parameters,
such as:
Overall device dimensions (height, length, width ?)
Drive system (AWD, FWD, RWD ?)
Speed and load capacity (weight and time per run ?)
Wheel position (track & wheel base ?)
Wheel size (diameter ?)
Wheel material (necessary friction to climb)
Motor power requirements (speed and # of runs)
Gear ratio (speed/power)

Next, Drive Systems

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 7
 VEHICLE CLIMBING AN INCLINE PLANE
Examine the physics of a
vehicle climbing slopes for:
– Front Wheel Drive (FWD)
– Rear Wheel Drive (RWD)
– All Wheel Drive (AWD)

Questions:
– What is the minimum tractional force necessary to climb?

– What is the optimum drive system: FWD, RWD, or AWD?

– What is the minimum wheel/surface friction coefficient

necessary to avoid slipping?

– What is the tip-over angle?

MAE-162D – R. S. Shaefer, C. Kang, T-C. Tsao -- W’16 8

 FREE BODY DIAGRAM VEHICLE DRIVING UP A SLOPE
L
LC

FW Ftf
RW
Ftr
hc Fm
y q
x Nf
Nr

Fm = gravitational force on the device L = distance FW to RW

Nf = normal force of both front wheels Lc = distance RW to CoM
Nr = normal force of both rear wheels hc = height of the CoM

Ftf = µNf → Tractional force of both FWs caused by static friction

Ftr = µNr → Tractional force of both RWs caused by static friction
µ = coefficient of friction, q = angle of incline plane
MAE-162D – R. S. Shaefer, C. Kang, T-C. Tsao -- W’16 9
FRONT AND REAR WHEEL TRACTIVE FORCES (FTF , FTR)
Sum Forces and Moments (Mr rear) :

Fy 0 : Nr Nf Fm cos q 0
Mr 0 : Fm h sin q N f L Fm LC cos q 0
Solve for Normal forces:
Fm LC cos q Fm h sin q
Nf
L
Fm ( L LC ) cos q Fm h sin q
Nr
L
R ear and Front Tractive Forces :
Ftr Nr
Ftf Nf

MAE-162D – R. S. Shaefer, C. Kang, T-C. Tsao -- W’16 10

WHAT HAPPENS WHEN NF → ZERO ?

LC

FW Ftf
RW Ftr
hc Fm
y q Nf → 0
x Nf
Nr

MAE-162D – R. S. Shaefer, C. Kang, T-C. Tsao -- W’16 12

 TIP-OVER ANGLE (q qMAX) ?
Tip-over angle (q = qmax) occurs when Nf = 0 or hc = hmax
hmax is maximum COM height
Fm LC cos q Fm hc sin q
Nf 0: 0
L
LC
hmax
tan q
tan qmax = Lc / hmax

When designing your transporter the location of the center of gravity

of your system has to be documented in your Design Reports:
use SolidWorks to establish the coordinates of the center of gravity of your device –
however first assign correct materials include the weight of batteries.

Ramp angles are set

→ the COM of your transporter can be optimized (i.e., hc , Lc and L ).
During the concept development stage, develop an excel spread-
sheet to optimize hc , Lc and L dimensions.
MAE-162D – R. S. Shaefer, C. Kang, T-C. Tsao -- W’16 13
RRFEQUIRED
EQUIREDFFRICTION
0 :
F 0: NN N
RICTIONCCOEFFICIENT
N F cos
OEFFICIENT FOR AWD, FWD, RWD
q
F cos q 0 0
Fy y
y 0 : N
r r
Fy 0 : N rr N ff F r N
f f
f
mm
FFm coscosqqq 000
cos
MM 0 :
0 :F F h hsinsin q q mm
NNf f LL FmFm LCLC cos cosqq 0 0
Mr r
0 : F
mm
M rr 0 : Fmmm h sin h sin
sinqq Nq N L
N fff LL F F L cos
cosqq
Fmmm LLCCC cos q 000
FmFm LCLC cos cos q q FmFmh hsin sinqq
NNf f FF L
m L C cos cos
cos qq
q FF
F m hh
h sin
sin
sin q
q
q
NNf f m
m CC LL mm
L
FmFm( L( L LCL)C )cos LLcosq q FmFmh hsin sinqq
NN rNr FF (
m (L L LL
L
) cos
C)) cos
cos
q
q
q F
F
F m h h
h
sin
sin
sin q
qq
N rr m
m C
C LL mm
L
LL Tractive Forces :
FTf Nf
FxFx 0 0: : FTfFTf FTrF FmFm sin qq
sin NN NNf f FmFm sin qq 0 0
sin
FFxxx 00:: FFTfTfTf FFTr
Tr sinqq
Fm sin rNr N F sinqq 00 FTr Nr
Tr
Tr
F
F m
m sin q N
Nrrr N sin q 0
Nfff FFmmm sin

Define
Define Drive
Drive System
System factors
factors r and
r and f and
f and
solve
solve FWD set f =1 and r =0
Define Drive System
Define Drive System factors and and solve
System factors
factors rrrand and fff and
and solve
solve RWD set =0 and =1
for
for using
using NN and N
and N
rNr and fNf :: : f r
for using
for using N rrrand N ff :: AWD set f =1 and r =1
f
FxFx 0 0: : r r NN
and N qq 0 0
F 0 : rNr f f NN fNf FmFFm sin
sin
sin q 00
m sin q
Fxxx 0 : rrr N rrr ff
f N f
N ff FFmm sin q 0 Use this equation to
estimate the required
LLsin
L
q qq
sin
sin
minimum friction
( (r r )( )(
h hsin q
sin q LLL sin
Lsinqcos
q q q) ) r LLcos
cos q
cos qq
coefficient for your
f f )( h sin q CL q drive system
((( rrr cos ) L cos
C r
f h sin q
ff )(
)(h sin q LLCCC cos cosqq)) rrrLL cos
cosqq AWD, FWD, or RWD
MAE-162D – R. S. Shaefer, C. Kang, T-C. Tsao -- W’16 14
REQUIRED MINIMUM COEFFICIENT OF
FRICTION FOR YOUR DEVICE
L sin q
f )( h sin q LC cos q ) L cos q
min
( r r

• The required coefficient of friction ( ) of your device

will depend on what you choose for:
• Dimensions of the device,
• Angle of ramp incline,
• Surface condition of the ramp,
• Drive system (AWD, FWD, RWD), and
• CoM (Center of Mass).

• In this section, we will go over how to estimate the

Required Minimum for your device.

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 15

 REQUIRED MINIMUM TRACTIVE FORCES
L
LC

FW FTf
RW
FTr
hc Fm
Want to y q
minimize x Nf
Tractive
Forces Nr

FTf = µNf → Tractional force of both FWs

FTr = µNr → Tractional force of both RWs

What is the minimum required µ (= ?)

for a given transporter drive system and ramp slope q

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 16

 REQUIRED WHEEL/RAMP COEFFICIENT OF FRICTION
• The minimum required static coefficient of
friction ( ) depends on the DRIVE SYSTEM:
– Four Wheel Drive 4WD

– Front Wheel Drive FWD

– Rear Wheel Drive RWD

Four Wheel Drive ( 4WD)

Ftr Ftf Fm sin q

Nr 4WD Nf 4WD Fm sin q
4WD tan q
Required coefficient of friction depends only on angle:
Decrease 4WD by decreasing the incline angle (ramp slope is set !)
1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 17
 REQUIRED WHEEL/RAMP COEFFICIENT OF FRICTION

Front Wheel Drive (Nr = 0) FWD

Nf FWD Fm sin q
1
FWD
LC h
L tan q L

How can the required coefficient of friction be minimized?

Move the center of gravity forward
Shorten the wheelbase (L)
Lower the height of the center of gravity (hc)

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 18

 REQUIRED WHEEL/RAMP COEFFICIENT OF FRICTION

Rear Wheel Drive (Nf = 0) RWD

Nr RWD Fm sin q
1
RWD
L LC h
L tan q L

What can be modified to reduce the required coefficient of

friction?
• Move the center of gravity towards the RWs (reduce Lc)
• Increase the wheelbase (L)
• Raise (hc) the COM height

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 19

 REQUIRED WHEEL/RAMP COEFFICIENT OF FRICTION
• Depending on drive-system (FWD or RWD) the
required wheel friction coefficient can be
minimized by adjusting device size & dimensions:

L Lc hc
FWD ↓ ↑ ↓
RWD ↑ ↓ ↑
↓=decrease; ↑=increase

Tractive Forces :
LC
FTf Nf Tipping : q tan 1

h
FTr Nr
1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 20
 REQUIRED WHEEL/RAMP COEFFICIENT OF FRICTION
The distance of the Center of Gravity from the rear wheels
(Lc) can be chosen such that either RWD or FWD will
require the same minimum coefficient of friction.
For minimum equal coefficient of frictions we can solve
for LFWD/RWD :

FWD RWD

L
LFWD / RWD h tan q
2
Positioning the Center of Gravity at LFWD/RWD is a valuable
“design knob” you can use to your advantage (provides
design flexibility
1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 21
 EXAMPLE: SELECT AN OPTIMUM DRIVE SYSTEM
Given device dimensions L, h, and slope (q ) determine an optimium
drive system: FWD, RWD, or AWD ?

Minimize required Tractive Forces: FTf = µNf FTr = µNr

Given:
– Wheel base (L): 12 inch
– Height of CG (h): 7 inch
– Slope angle (q ): 10o

Graph and compare the friction coefficient as a function of (Lc) of

FWD, RWD, and AWD:

1 1
4WD tan q RWD
L LC h FWD
LC h
L tan q L L tan q L

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 22

 MINIMUM REQUIRED FRICTION COEFFICIENT
Graph of required min. friction coefficients for -AWD , -FWD and
-RWD.

Device Dims.:
L = 12 inch
h = 7 inch
q = 10o

LFWD/RWD

Note : For LC = 7.23 in (CoM) the -FWD = -RWD).

The smallest required min. coeff. of friction is for AWD, however,

the additional weight, complexity, and cost of an AWD system has
to be considered.
1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 23
 Deciding on the Optimum Drive System
For Your Device
1. Measure or research and estimate
the coefficient of friction of your
wheel/wooden ramp: -Wheel
2. Next, select initial dimensions for
your device: L & h [qmax (ramp given)]
3. Plot coefficient of frictions as a
function of (LC) for:
FWD, RWD, AWD

Compare the friction coefficients for FWD and RWD

(ignore AWD, because your device will most likely not be AWD).
Based on your conceptual design sketches, “eye-ball” a value for
your device LC and draw a vertical line on the -plot.
This will show if you should use a FWD or a RWD system (you
choose the smaller ).

MAE-162D – R. S. Shaefer, C. Kang, T-C. Tsao -- W’16 24

 MEASURING YOUR WHEEL’S
COEFFICIENT OF FRICTION

In the past, many team projects failed because of

inadequate (too low or too high) wheel coefficient of
friction.

You are encouraged to measure it yourself!

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 25

 DETERMINE YOUR WHEEL’S COEFFICIENT OF FRICTION
Ff N and F|| Fmg sin q N mg cos q

Ff Fmg cos q Fmg sin q F| | mg sin q

h Ff mg cos q
tan q
L2 h 2
Start to lift, when the mass starts to slip the friction force
(Ff) is equal to the parallel force (weight) component (F||):

Perform a simple inclined plane test to measure

the friction coefficient of your wheels:
• Use hypotenuse length ~ 50 cm
• Raise end of ramp until test car slips
• Measure h and calculate Wheels are fixed to board

Coefficient of friction
Plywood
Wheel surface along grain across grain
Plain 0.45 0.47
Knurled 0.47 0.48
Sandpaper covered 0.91 0.92

Source: A. H. Slocum “Fundamentals of Design” 2008

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 26
 Power Requirements
Assuming you have decided on the following for your device:
Drive System (RWD)
Maximum size of the device
Approximate round trip time
You have also estimated the minimum coefficient of friction
required to drive up the plywood ramp

You can now try different wheels (materials) and see if they will
provide the necessary coefficient of friction
You can approximate the overall dimension and coordinates of the
center of gravity
At the end of this lecture you can estimated the required total
power/torque necessary to move up the ramp.
And therefore you can start looking at motors, and decide how strong
of a motor or how many motors you might need.

28
MAE-162D – R. S. Shaefer, C. Kang, T-C. Tsao -- W’16 28
 REQUIRED POWER TO MOVE A VEHICLE & MINIMUM
For a mass m to move a distance x under constant acceleration a in
time t and with an efficiency of , we have:
2
at F v
x v at F ma P
2 efficiency

Solving for the required power in terms of m, x, and t: :

2x 2x 2 xm 4mx 2
a 2
v F 2
P 3
t t t efficiency t

Defining the percent weight of the vehicle over the drive wheels as , then
the required minimum coefficient of friction between the drive wheels and
the ground is:
F
F N F ( mg ) min
mg

Create an excel spread-sheet to optimize a (m/s2), F (N), min, vmax, P.

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 30
Fraction of Weight on Front/Rear Wheels on an Incline
Dividing the normal forces on the wheels by the total
load gives fractional distribution of weight ( r,f) :
N f /r
f /r
Fm
Nf LC cos q h sin q
Front: f
Fm L
Fm ( L LC ) cos q Fm h sin q
Nr
L
N r ( L LC ) cos q h sin q
Rear: r
Fm L

MAE-162D – R. S. Shaefer, C. Kang, T-C. Tsao -- W’16 31

Sample Excel spreadsheet to calculate a(m/s2), F(N), min, vmax, P
Power Required to Move
To estimate the power to move a mass m a distance x with constant
Enters numbers in BOLD, Results in RED

Distance to move, x (m) 2.0 m

Desired move time, t (sec) 3.0 s
Mass, m (kg) 3.0 kg
Estimated system efficiency, eta 50% --
% vehicle weight over drive wheels, beta 50% --
Power per motor, wm (Watts) 2.0 W
Acceleration required, a (m/s^2, g's) 0.44 m/s 2 0.05 g's
Force required, F (N) 1.33 N
Min. coeff. of friction drive wheels to ground, mu_min 0.09 --
Maximum velocity (at end of move), v (m/s) 1.33 m/s
Power required, P (Watts) 3.56 W
Motors required 2 --

To program – name - cells in Excel:

Click Formulas >
in the Defined Names group >
click Name Manager.
Look for this icon:

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 32

 EXAMPLE: CHOOSING A GO-KART MOTOR

• The challenge:
– Build a Go-Kart that goes up a 30o hill at 4 mph
(m = 90 lb, wheel diameter is 10 inch).
– You are given a 9 amp-hour battery to power the motor.

• You have two motors to chose from:

Motor-1: Electric motor, which draws about 20 A to produce
1 Hp with a torque of 60 N-m at 150 rpm. The motor
costs $167.99.
Motor-2: Electric motor that puts out 0.4 Hp at 2500 rpm
drawing ~ 5 A. The motor costs $37.59.

Which motor will you choose and why?

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 33

 REQUIRED MOTOR POWER
• Given:
• Electric Motor: 0.4 Hp at 2500 rpm
• Hill Slope: 30o

• Design Requirements/Parameters:
– Min. speed 4 mph (up a 30o hill)
– Total Mass 90 lb
– Wheel diameter 10 in
– Battery 9 amp-hour

Approach:
– First determine the necessary POWER needed to move the
Go-kart up the hill.

– Next, if needed determine the gear ratio to achieve the

necessary torque at the wheels.

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 34

 ESTIMATING REQUIRED POWER
• Force to move the Go-kart : Freq FInertia? +F?W+ ?F+?
f Frol
– Freq: total required force
– FW : vertical component of weight
– Ff : friction force
– Frol: rolling force
– FInertia: overcome inertia (assume v = 0.25 m/s in 1 s ainertia =0.25 m/s2)

• Estimating required force using:

Freq maInertia mg sin q
f = 0.35
rol = 0.015 f rol mg cos q
337.00 N
• Required Power is:
Preq Freq v
v is steady state velocity
(vtan = r × w; w in rad/s) 337.00 N 1.79 m/s
602.56 W
1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 35
 ESTIMATE REQUIRED TORQUE FOR GO-KART
• Torque – Power Relation: Pm
– P is the motor power Pm Tmwm Tm
wm
w is the angular velocity

• Motor-2 : P= 0.4 Hp at 2500 rpm Tm 1.15 N m

produces a torque (Tm) of:

• For a 10 inch diam. v 1.79 m / s

wheel at 4 mph*: w 14.08 rad / s
r 0.127 m
• Necessary torque to Preq 602.56 W
drive the cart at 4 mph: Treq 42.80 N m
w 14.08 rad / s
• Required torque is larger than Tm: Treq Tm
*Note: The units of w actually come out as 1/s (Hz); however, radians are a Watts to torque conversion (1 Hp = 746 W) :
suppressed unit with regards to angular velocity Power in W
Torque( N m)
→ so we write (rad)/s instead of 1/s (1 rad/s = (2 /60) × rpm ) (2 / 60) Rotational Speed in rpm
1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 36
 DETERMINE THE GEAR RATIO AND BATTERY LIFETIME
• Tmotor is less than Trequired

Tm 1.14 N m Treq 42.80 N m

• Estimate the Gear Ratio (GR) –velocity ratio – for required

torque (Treq): w out
w in

rOUT
rin

tin
tout
Driver Driven
(Effort) (Load)

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 37

 DETERMINE THE GEAR RATIO AND BATTERY LIFETIME
• Gear Ratio (GR):
Treq 42.80
GR 37.56
Tm 1.14
Use a gear ratio of 40

• The calculation to find the battery life:

Battery Capaticy in Milli Amps per hour
Battery Life
Load Current in Milli Amps per hour

• Battery Lifetime: Motor 1 and 2 currents are rated at 5 A and 20 A:

Motor 2 9 amp hour 1

B
time 1 hr 48 min ; Btime
Motor
27 min
5 amp

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 38

 RELATIONSHIP BETWEEN
MOTOR SPEED, POWER, AND
TORQUE

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 39

 STALL TORQUE AND NO-LOAD SPEED
• Assuming steady state and no slippage between wheel and
ground:

• Torque (T):
T F r (1)
T r
if F and r are not ┴:
T F r sinq (2)
F
• Stall Torque (Ts):
– The minimum torque needed to completely stop the motor shaft
from rotating (stalling the motor; torque is a maximum, but the
shaft is not rotating ).

• No-Load Speed (wn):

– The maximum output speed of the motor, when no torque is
applied to the output shaft.S
1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 40
 MOTOR TORQUE SPEED VS. POWER

• We can define :
Ts Stall Torque Ts )
T Ts w (3)
wn
or in terms of w :
No-Load Speed (wn)
wn
w (Ts T ) (4)
Ts
Operating Point

• The plot of eq. 3 or 4 is

called a torque-speed
curve.

This motor has a no-load speed of 95

RPM and a stall-Torque of 0.6 Nm

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 USING TORQUE -SPEED CURVES
• Given the applied torque of the motor shaft we can determine
the rotational speed of the motor.

• Or if we know how fast we want the motor to spin, we can

find how much torque should be applied.

Stall Torque Pm Tmwm

Max Power Pm
Tm
wm
Low Power

No-load Speed
High Power

Low Power Motor Specs.

should include
No-load Speed and
Stall Torque.

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 MOTOR POWER

• Recall:
Ts wn
P T w; T Ts w (3); w (Ts T ) (4)
wn Ts

• If we multiply eq. 3 by w or eq. 4 by T we get power as a

function of either torque or velocity:
Ts 2
P(w ) w Ts w (6)
wn
wn 2
P(T ) T wnT (7)
Ts

• These quadratic equations are shown on the next slide:

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 MOTOR POWER AS FUNCTIONS OF W ORT :

There is a maximum power for a given range of speed and torque.

For optimum performance, the motor should be operating at torque and
speed corresponding to the maximum power.

The optimum torque and speed are at about half Ts and wn respectively.

The maximum power available is ≈ (Ts wn )/4

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 MAXIMUM VELOCITY AND TORQUE

• If k (speed-torque slope) is known we can relate torque,

power, and velocity as:

Tmax
k
wmax
T kw Tmax
P T w kw 2
Tmaxw
P
0 2kw Tmax
w
wmax Ts
wP max ; TP max
2 2

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 MOTOR POWER
• Given a Tmax= 9 N-mm, wmax= 14000 rpm, T w slope (k) = - 0.006 the
motor torque and power (plotted for w-increments of 200 rpm) are:

Torque (N-mm)
10 Power (Watts) 3.5
9
3.0 Note: max power
8 is not at max.
7 2.5 torque or speed

Power (Watts)
2.0
Torque (N-mm)

5
1.5
4
P kw 2 Tmaxw
3 1.0
2
0.5
1 T kw Tmax
0 0.0
0 2000 4000 6000 8000 10000 12000 14000
Motor Speed (rpm)

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 46

PROCEDURE FOR YOUR CONCEPTUAL DESIGN REPORT
After you have made the following concept design decisions:
Drive system (FWD, or RWD, or AWD)
Estimated the maximum size of the device (height, length, width)
Weight of the transporter plus Cargo delivery system weight
Approximated wheel diameter(s)
Approximate time to deliver a golf ball (tmax = 2 – 3 min)

You can now refine your conceptual design based on the following
mechanical engineering fundamentals:
1. Define overall dimensions of your device and coordinates of the center of gravity
(L, LC, h)
2. Estimate the minimum coefficient of friction ( ) required to climb the plywood ramp
3. Establish candidate wheel materials provide the necessary
4. Estimate the required power/torque necessary to deliver the load
5. Research motors, and decide what motor and/or how many you should use
including gearing requirements (use plot torque-speed curves to estimate
maximum torque and RPMs)
6. Try to develop an Excel-spread sheet to help in optimizing design parameters.

1/7/2016 UCLA MAE162D -- R. Shaefer, C. Kang, T-C Tsao 47