Brushed / Brushless Motor - version 19d

This spreadsheet calculates the mass and moment of inertia for a rotary weapon made up of rings (tubes),
common center of rotation. You may combine elements that make up your weapon, such as a ring and a dis
rings with two disks for ends (calculate as one double thickness disk). Complex items of known MoI may be

Fill in the blue information boxes on the 'Calculations' sheet as appropriate -- set the thickness of any unus
calculations do not include the inertia of the motor rotor or gear train, and neither do they account for aerod

The spreadsheet also calculates the kinetic energy and approximate spin-up time for the weapon when pow
and reduction. Conversions for english / metric units are provided in a 'conversions' table. The example nu
for a 'Propdrive 5060 380Kv' BLDC motor geared 2.5:1 spinning a 420mm x 75mm x 24mm steel bar.

Brushless motors - This update improves on prior spreadsheets and correctly models the 'soft-start' featur
firmware. Modeling the motor requires only voltage, RPM per volt (Kv), internal resistance (Ri), and the num

Brushed motors - selecting the 'Brushed' radio button in the 'Motor and Drive' input section will remove all
assist in determining the internal resistance (Ri) of a brushed motor given the stall current is provided at th

How much kinetic energy is enough? (Updated 2016) Current tournament results show that a good design
of the weight class is 'plenty', but some 'bots claim a great deal more. Examples:

- Top-ranked antweight 'Algos' stores about 120 joules per pound in its direct-drive drumette.

- Feared heavyweight 'Last Rites' can store upwards of 400 joules per pound in it's massive s

How fast should your weapon spin-up? Aim for at least 20 joules per pound in the first two seconds. You m
(less in small ones), and you can buy some extra time if your 'bot is nimble enough to protect the weapon f

The spreadsheet's battery calculator assumes that each weapon hit completely dissipates the energy store
motor draws 5% of stall current to maintain the weapon at speed. It is a very rough estimate of required bat

Click on the 'Calculations' tab below to go to the main worksheet.

Brushed Motor 'Ri' Calculator

Stall Current 192 amps
@ Voltage 14.8 volts
Ri 77 mW
on made up of rings (tubes), disks, and rectangular bars sharing a
apon, such as a ring and a disk to make a 'tuna can' spinner. Drums are
ex items of known MoI may be entered directly as a 'Custom Element'.

set the thickness of any unused elements to zero. Note that the
ther do they account for aerodynamic drag on the weapon.

ime for the weapon when powered by a specific BLDC electric motor
rsions' table. The example numbers provided with the spreadsheet are
mm x 24mm steel bar.

y models the 'soft-start' feature of 'SimonK' or similar controller

al resistance (Ri), and the number of magnetic poles.

input section will remove all soft-start calculations. A calculator to

stall current is provided at the bottom of this page - scroll down.

ults show that a good design with 50 joules of stored energy per pound
es:

d in its direct-drive drumette.

es per pound in it's massive spinning bar.

n the first two seconds. You may get a little more time in large arenas
ough to protect the weapon from premature impact by dodging.

y dissipates the energy stored in the weapon, and that the weapon
ough estimate of required battery capacity.

o go to the main worksheet.

 Combat Robot Rotary Weapon Moment of Inertia, Spin-Up Time, and Battery Requirement

For a disk Material Density 4500 kg / m3 Voltage 22.2 volts

Motor and Rotary Weapon Spin-Up
Radius 0 meter Kv 380 rpm / volt
Drive 3500
Thickness 0.0 mm Ri 22 mW
Moment of Inertia 0 kg-m2 Brushed Poles 14 magnets
Mass 0.00 kilos Brushless Gear Reduction 2.5 to 1 3000

For a ring Material Density 4500 kg / m3 SimonK Commutation Max 1024 μ-sec 2500
or tube Height (Length) 0.000 meter Soft Start Power Max 25% pulse

RPM
Outer Radius 0.000 meter
2000
Wall Thickness 0.0 mm Match length 3 minutes
Battery
Moment of Inertia 0 kg-m2 Spin-ups 6 per match
Power 1500
Mass 0.00 kilos Power required 3.45 amp hours

For a bar Material Density 7800 kg/m3 At: 95% max RPM 1000
Length 0.450 meter Weapon speed: 3206 RPM
Width 0.075 meter Results Tip speed: 76 m/sec
500
Thickness 24.0 mm Energy storage: 6207 joules
Moment of Inertia 0.1096 kg-m2 Elapsed time: 2.25 seconds
0
Mass 6.32 kilos
0.0 0.5 1.0 1.5
Conversions Density kg/m 3
Seconds
Custom Known MOI 0.000 kg-m2 oz-in → N-m Steel 7800
Element Tip Radius 0.000 meter 1370 9.67 Titanium 4500
Run Amok Combat
inches → meters Aluminum 2760
Mass 6.32 kilos 16 0.406 Magnesuim 1770 Spreadsheet copyright 2007 - 2
Total
Moment of Inertia 0.110 kg-m2 kilos → pounds Carbon Fiber 1600 Battery Power Calcs 2008 b
0.38 0.84 Lexan 1200
t of Inertia, Spin-Up Time, and Battery Requirement

Rotary Weapon Spin-Up

3500 7000

Joules : Amps
3000 6000

2500 5000
RPM

2000 4000

1500 Speed 3000

Energy

1000 Current 2000

500 1000

0 0
0.0 0.5 1.0 1.5 2.0 2.5
Seconds

Run Amok Combat Robotics

Spreadsheet copyright 2007 - 2017 by Mark Joerger
Battery Power Calcs 2008 by Michael Maples