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	<title>Mikael Tulldahl &#187; Lilla Lisa</title>
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	<link>http://www.mikaeltulldahl.se</link>
	<description>My projects, thoughts &#039;n stuff</description>
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		<title>Lilla Lisa Specs</title>
		<link>http://www.mikaeltulldahl.se/robots/lilla-lisa-specs/</link>
		<comments>http://www.mikaeltulldahl.se/robots/lilla-lisa-specs/#comments</comments>
		<pubDate>Fri, 01 Nov 2013 23:37:12 +0000</pubDate>
		<dc:creator><![CDATA[Mikael Tulldahl]]></dc:creator>
				<category><![CDATA[Lilla Lisa]]></category>
		<category><![CDATA[Robots]]></category>

		<guid isPermaLink="false">http://www.mikaeltulldahl.se/?p=38</guid>
		<description><![CDATA[Motors Model: Turnigy L3040A-480G Brushless Motor Specs: kv :480 rpm/V max current: 52A. suitable for 6s system (22.2V) You can calculate the torque constant, Kt, given the kv: Kt=9.5/Kv=9.5/480=0.02Nm/A at 52A: M=I*Kt=52*0.02=1.04Nm gear ratio of 10:35 gives: Mout=1.04*3.5= 3.64Nm M=F*r &#8211;&#62; F=M/r=3.64/0.02=182N two motors: 2*182N=364N so it is able to push forward with about 364N at full current at both engines. however we dare to push much more current for a short duration Transmission the motors have a 5mm axle, we picked regular rc buggy pinion steel gear for use on the motor shaft, 10t and mod1 the motor gear has a direct drive on the wheel gear, a 35t mod1 gear from sdp-si of stainless steel. the wheel gears were modified (not the teeth)with cnc to minimize weight and to fit nicely with the rims. the rims are cnc cut from both sides from a piece of Nylon. nylon turned out to be very hard to work with and i had some failed pieces before I figured out a good manufacturing method. the wheel gear is slided on the hub, and fastened with a handful of m3 screws threaded into the nylon. a mold was milled from 8mm sheets of PC and used to mold polyurethane on the rims. a wheel diameter of 41mm was used. with a 4.5mm thick polyurethane tire. the tire is expected to compress about 1mm as they touch the doyho. &#160; Batteries we have one individual battery pack for each motor, each is a 1.3Ah 6s(22.2V) 45c &#8211; 130c turnigy nanotech http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=22907 Motor controllers (ESC) the motor controllers are a custom design by Benjamin Vedder. they turn out to run our motors perfectly sensorless, but we will anyway probably put in sensors in the motors, by putting hall-sensors between the coils. Magnets magnets were sourced from http://www.magnetvaruhuset.se/ we chose the type &#8220;super-flatgripare&#8221;<a class="more-link" href="http://www.mikaeltulldahl.se/robots/lilla-lisa-specs/">[Read More...]</a>]]></description>
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