Online Robot Performance Calculator by FOM

Online Robot Performance Calculator by FOM

DC Motor Datasheet Characteristics

Motor Nominal Voltage [V]Voltage at which motor characteristic are referred to in the motor datasheet

No load Operating RegionNo Load: no torque load is applied at the axle and the motor is free to run.

No Load SpeedRotation speed of the axle in No Load condition. Value obtained from motor datasheet.

[RAD/s] [RPM] [Hz]

No Load Current [A]Current drawn by the motor in No Load condition. This current is due to the internal losses of the motor. Value obtained from motor datasheet.

Actual Motor Operating Voltage [V]The motor can be powered at any voltage changing the characteristic of the motor. Overvolting/overloading the motor causes additional heat to be dissipated.

Stall Torque Operating RegionStall: The axle is stopped by a torque load bigger than what the motor can provide. In this region the heat dissipation is maximum.

Stall TorqueTorque that the motor provides at the axle in the Stall operating region. Value obtained from motor datasheet.

[Nm] [mNm] [g-cm] [Kg-cm] [oz-in] [lb-in]

Stall Current [A]Current absorbed by the motor in the Stall operating region. Value obtained from motor datasheet.

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Platform CharacteristicsLayout of the platform. Parameters fully in the hand of the robot maker. How many motors power the robot, how heavy is the robot and what wheels are used.

Number of Motors [1]Number of gear motors that power the platform. Increasing the number of torque motor will increase force and acceleration but will have little effect on top speed.

Robot Mass [Kg]Weight will influence greatly force and acceleration and sligthly top speed and battery duration

Wheels Diameter [mm]Increasing the size of the wheels will increase top speed and decrease the force and acceleration

Wheels Friction [1]Rolling friction of the wheels will influence greatly battery duration and effective push and slightly the top speed

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Battery characteristicParameters of the power source of the robot and operating conditions.

Battery Voltage Quick SelectSelect chemistry of battery and number of series 'S' cells to automatically fill in the correct nominal voltage.

LIPO Alkaline NiMH NiCd Lead-Acid Lead-AGM Lead-Gel 1S 2S 3S 4S 5S 6S 8S 10S 12S

Battery Nominal Voltage [V]Nominal voltage of the battery. Battery usually starts above nominal voltage when fully charged and end below nominal voltage when fully discharged.

Battery Charge [mAh]Charge rating of the battery. Usable charge decreases with increasing current drawn from the battery

Battery Output Current [C]Nominal current output of the battery expressed as times charge C. 2C on a 1100mAh battery means 2.2A of nominal current. Aereomodel plane lipos reach easily 30C. Regular batteries provide 1C. C can be different for charge/discharge, look at C discharge value for operating conditions.

Logic Power [W]Power drawn by the logic circuits, the sensors and the radio. Heavily depends on hardware. For reference, a Raspberry Pi will draw about 10W while an X86 PC will draw about 50W.

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Motor Characteristics at Chosen VoltageMotor parameters are extrapolated from No Load and Stall data at nominal voltage and allow characterization of the motor at any given voltage.

No Load Speed [RAD/s] [RPM] [Hz]

No Load Current [A]

No Load Heat Dissipation [W]Power dissipated by the motor as heat when operating in no load top speed conditions due to motor internal losses

Stall Torque [Nm] [mNm] [g-cm] [Kg-cm] [oz-in] [lb-in]

Stall Current [A]

Stall Heat Dissipation [W]Power dissipated by the motor as heat when operating in stall conditions. Heat must be kept in check to prevent the motor from destroying itself.

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Platform PerformancePerformance of the robotic platform

Top SpeedTop velocity the platform will reach on a flat surface if given time to accelerate

[m/s] [Km/h]

Time to Top Speed [s]Time required to accelerate to top speed

Acceleration [m/s2]Acceleration of the platform when speed is zero. As speed increases, the torque provided by the motor and the acceleration both decrease

Push Force [N]Max force that the platform can exert at stall

Resist Force [N]Resist force in flat terrain. Caused by wheel friction.

Max Ramp Tilt [°]max ramp tilt that the platform can clear before motors stall

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Battery PerformancePerformance of the robotic platform

Battery Energy [J]Energy held inside the battery

ESR [mOHM]Battery Internal resistence

Battery Power [W]Battery power at rated current which is 1/7 of short circuit current.

Idle Battery Duration [h]Duration of the battery with motors powered down

Battery Current [A]Nominal current of the battery

Battery Rated Voltage [V]Battery voltage at rated power. Take into account voltage drop due to rated current

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Electrical PerformancePerformance of the robotic platform

Stall PerformanceElectrical performance of the platform in stall conditions

Motor Current [A]Current drawn by the motors at stall

Motor Electric Power [W]Electric power drawn by the motors in Stall condition

Motor Mechanical Power [W]Mechanical power at the wheel. In stall, the wheel is stopped, meaning no mechanical power is transmitted.

Motors Waste Heat [W]Heat dissipated from motors in Stall condition

Battery Waste Heat [W]Losses due to battery internal resistence at load current. Asking more current than the battery can provides will tank the battery voltage and cause the battery to overheat.

Battery Voltage [V]Voltage drop due to battery internal resistence at load current. No more than 1/7 voltage drop relative to nominal voltage should be accepted to keep the battery healthy

Battery Duration [h]Duration of the battery in hour while travelling on a flat surface

Top Speed PerformanceElectrical performance of the platform in top speed conditions on flat terrain

Motor Current [A]Current drawn by the motors at top speed

Motor Electric Power [W]Electric power drawn by the motors in Top Speed condition

Motor Mechanical Power [W]Mechanical power at the wheel. At top speed, the wheels are not acccelerationg the platform but are winning against friction, meaning mechanical power is being provided.

Motors Waste Heat [W]Heat dissipated from motors in Top Speed condition

Battery Waste Heat [W]Losses due to battery internal resistence at load current. Asking more current than the battery can provides will tank the battery voltage and cause the battery to overheat.

Battery Voltage [V]Battery voltage drops due to battery internal resistence at load current. No more than 1/7 voltage drop relative to nominal voltage should be accepted to keep the battery healthy

Battery Duration [h]Duration of the battery in hour while travelling on a flat surface

Odometer [m]maximum distance that can be covered on a flat terrain with one battery charge

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Platform Save ParametersExplicit link to autofill the form with saved parameters

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