AGV - Automatic Guided Vehicle Sizing Tool

AGV - Automatic Guided Vehicle

Unit

Select the unit

Vehicle

Vehicle weight mass

W1 m1

= lb kg (Excluding the wheel weight mass)

AGV

Wheel outer diameter

D1

= in mm

Wheel weight mass

WD1 mD1

= lb/pc kg/pc

Number of wheels

n1

= pcs

Rolling friction coefficient between wheel and floor

μ1

=

Reference:

Car tire on concrete: 0.010 to 0.015
Steel on steel: 0.02
Steel on wood: 0.22

Car tire on tar or asphalt: 0.030 to 0.035
Aluminum on steel: 0.10 to 0.15

Additional carts (Leave fields blank if there is no additional carts)

Number of carts

N

= carts

 

System efficiency

System efficiency

η

= %

Transmission belt and pulleys or gears (Leave the fields blank if a direct coupling structure is used) 

Primary pulley (gear) pitch circle diameter (PCD) or diameter

 

Secondary pulley (gear) pitch circle diameter (PCD) or diameter

Dp1

=   in mm

 

Dp2

=   in mm

Primary pulley (gear) weight mass

Secondary pulley (gear) weight mass

Wp1 mp1

=   lb kg

 

Wp2 mp2

=   lb kg

If you are not sure about the weight mass

If you are not sure about the weight mass

 

 

Primary pulley (gear) thickness

 

Secondary pulley (gear) thickness

Lp1

=   in mm

 

Lp2

=   in mm

Primary pulley (gear) material

 

Secondary pulley (gear) material

ρp1

=

 

ρp2

=

Floor slope

Maximum angle of floor slope

 

α

= °

Other requirement(s)

It is necessary to hold the load even after the power supply is turned off.
→ You need an electromagnetic brake.

It is necessary to hold the load after the motor is stopped, but not necessary to hold after the power supply is turned off.

Operating conditions

Operating speed

V1

=

  ft m /min

 

Acceleration/Deceleration

t1

=

  s

Operating speed

V1

=

  ft/min m/min

V2

=

ft/min m/min

 

Acceleration/Deceleration

t1

=

  s

 

Rotor inertia

JO

=

  oz·in kg·m 2

 

Gear ratio

i

=

 

 

If the rotor inertia and the gear ratio are unknown, the acceleration torque will be calculated with an inertia ratio of 5:1 (see the motor selection tips that will appear on the result window for the detail).

Positioning

 

Positioning distance

L

=

ft m

 

Positioning time

t0

=

 s    

Stopping time

ts

=

 s

 

Acceleration / deceleration time is required

t1

=

 s

 

Operating speed

V

=

  ft/min m/min

Stopping accuracy

Stopping accuracy

±

in mm

Safety factor

Safety factor


The following is the estimated requirements. Please contact 1-800-468-3982 ( from overseas 1-847-871-5931 ) for assistance or questions.

Sizing Results

Load Inertia 

JL

= [oz·in [kg·m 2]

 

Required Speed 

Vm

= [r/min]

 

V2

= [r/min]

 

Required Torque 

T

= [lb·in] = [oz·in] [N·m]

 

RMS Torque 

Trms

= [lb·in] = [oz·in] [N·m]

 

Acceleration Torque 

Ta

= [lb·in] = [oz·in] [N·m]

 

Load Torque

TL

= [lb·in] = [oz·in] [N·m]

 

Required Stopping Accuracy

Δθ

= [deg]

 

Other Requirement(s)

To print the calculation report, click    Full Report
To view the motor selection tips, click    Tips


 
×
Call 1-800-GO-VEXTA(468-3982) or 1-847-871-5931 Print

- given information -

Vehicle

 

Vehicle weight mass

W1 m1

[lb] [kg]

 

Wheel outer diameter

D1

[in] [mm]

 

Wheel weight mass

WD1 mD1

[lb/pc] [kg/pc]

 

Number of wheels

n1

[pc]

 

Rolling friction coefficient between wheel and floor

μ1

=

Additional carts

 

Number of carts

N

carts

System efficiency

 

Drive mechanism efficiency

η

%

Transmission belt and pulleys or gears

 

Primary pulley (gear)

Secondary pulley (gear)

 

pitch circle diameter (PCD)

Dp1

= [in] [mm]

Dp2

= [in] [mm]

 

weight mass

Wp1 mp1

= [lb] [kg]

Wp2 mp2

= [lb] [kg]

 

thickness

Lp1

= [in] [mm]

Lp2

= [in] [mm]

 

material

ρp1

= [oz/in [kg/m 3]

ρp2

= [oz/in [kg/m 3]

 

Floor slope

 

Maximum angle of floor slope

α

°

Other requirement(s)

 

Is it necessary to hold the load even after the power supply is turned off?

 

Is it necessary to hold the load after the motor is stopped, but not necessary to hold after the power supply is turned off?

Operating conditions

 

Fixed speed operation

Operating speed

V1

=

[ft/min] [m/min]

 

 

Acceleration / deceleration time

t1

=

[s]

Operating conditions

 

Variable speed operation

Operating speed

V1

=

[ft/min] [m/min]

 

V2

=

[ft/min] [m/min]

 

 

Acceleration / deceleration time

t1

=

[s]

Operating conditions

 

Positioning operation

Rotor inertia

JO

=

[oz·in kg·m 2]

 

Gear ratio

i

=

 

Positioning distance

L

=

[ft] [m]

 

Positioning time

t0

=

[s]

 

Stopping time

ts

=

[s]

 

Acceleration / deceleration time

t1

=

[s]

 

Specified speed

V

=

[ft/min] [m/min]

Stopping accuracy

 

Stopping accuracy

Δl

= [in] [mm]

Safety factor

 

Safety factor

S·F

=


- calculated result -

Load Inertia

Vehicle

JV

=   (W1 + (1/2 ) WD1 × n1) × 16 × (D1 / 2)2 (m1 + (1/2 ) mD1 × n1) × (D1 × 10-3 / 2)2

 

=   ( + (1/2) × × ) × 16 × ( ×10-3  / 2)2

= [oz·in [kg·m 2]

Carts

JC

=   (W2 + (1/2 ) WD2 × n2) × 16 × (D1 / 2) (m2 + (1/2 ) mD2 × n2) × (D1 × 10-3 / 2) 2 × N

 

=   ( + (1/2) × × ) × 16 × ( ×10-3  / 2)2 ×

= [oz·in [kg·m 2]

Primary pulley

JDp1

=  ( 1 / 8 ) Wp1 × 16 × Dp1 mp1 × (Dp1×10-3) 2

 

=   ( 1 / 8 ) ×  × 16 × ( ×10-3) 2

= [oz·in [kg·m 2]

Primary pulley

JDp1

=   ( π / 32 ) ρp1 ( Lp1 ×10-3) ( Dp1 ×10-3) 4

 

=   ( 3.14 / 32 ) ×  × ( ×10-3)  × ( ×10-3) 4

= [oz·in [kg·m 2]

Secondary pulley

JDp2

=  ( π / 32 ) ρp2 ( Lp2 ×10-3) ( Dp2 ×10-3) 4

 

=   ( 3.14 / 32 ) ×  × ( ×10-3)  × ( ×10-3) 4

= [oz·in [kg·m 2]

Secondary pulley

JDp2

=   ( 1 / 8 ) Wp2 × 16 × Dp2 mP2 × (DP2×10-3) 2

 

=   ( 1 / 8 ) ×  × 16 × ( ×10-3) 2

= [oz·in [kg·m 2]

Total load inertia

JL

=   ( JV + JC + JDp2 ) ( Dp1 / Dp2 )2 + JDp1

 

= (  +  +  ) × (  /  )2 +

[oz·in [kg·m 2]

Total load inertia

JL

=   JV + JC

 

=  (  +  )

[oz·in [kg·m 2]

Required Speed

 

Vm

=   ( 12 × V1) / ( π D1 × 10-3)   ( Dp2 / Dp1 )

 

=   (12 × ) / (3.14 × × 10-3) × (  /  )

= [r/min]

 

Vm1

=   (12 × V1) / ( π D1 × 10-3 ) ( Dp2 / Dp1 )

 

(12 × ) / (3.14 × × 10-3) × (  /  )

= [r/min]

 

Vm2

=   (12 × V2) / ( π D1 × 10-3) ( Dp2 / Dp1 )

 

(12 × ) / (3.14 × × 10-3) × (  /  )

= [r/min]

 

Vm

=   (12 × L) / ( π D1 × 10-3 ) × (60 / (t0 - t1)) ( Dp2 / Dp1 )

 

(12 × ) / (3.14 × × 10-3 ) × (60 / ( - ) ) × (  /  )

= [r/min]

 

Vm

=   (12 × V) / ( π D1 × 10-3 ) ( Dp2 / Dp1 )

 

(12 × ) / (3.14 × × 10-3) × (  /  )

= [r/min]

Required Torque

 

T

=   ( Ta + TL ) ( Safety Factor )

 

= (  +  ) ×

= [lb·in] [N·m]

 

= [oz·in]

RMS Torque

 

Trms

=

√(((( Ta + TL )2 × t1 ) + ( TL2 × (t0 - 2 × t1 )) + (( Ta - TL )2 × t1 )) / ( t0 + ts )) × (Safety Factor)

 

=

√ ((((  +  )2 ×  ) + ( 2 × (  - 2 ×  )) + ((  -  )2 ×  )) / (  +  )) ×

 

= [lb·in] [N·m]

 

 

= [oz·in]

Acceleration Torque

 

Ta

=

( JL / 386 ) ( Vm / ( 9.55 × t1 )) ( 1 / 16 )

 

=

(   / 386 ) × (  / ( 9.55 ×  )) × ( 1 / 16 )

 

= [lb·in] [N·m]

 

 

= [oz·in]

 

Ta

=

( JL / 386 ) ( Vm / ( 9.55 × t1 )) ( 1 / 16 )

 

=

(  / 386 ) × (  / ( 9.55 ×  )) × ( 1 / 16 )

 

= [lb·in] [N·m]

 

 

= [oz·in]

 

Ta

=

(( JO × i2 + 1.2 × JO + JL ) / 386 ) ( Vm / ( 9.55 × t1 )) ( 1 / 16 )

 

=

((  × 2 + 1.2 × +  )  / 386 )  × (   / ( 9.55 ×  ))  × ( 1 / 16 )

 

= [lb·in N·m]

 

 

= [oz·in]

Load Torque

 

F

=   9.8 ( ( W m 1 + n1 × W m D1 ) × ( sinα + μ1 cosα ) + ( W m 2 + n2 × W m D2 ) × N × ( sinα + μ2 cosα ) )

 

=   9.8 ( ( + × ) × ( sin + × cos ) + ( + × ) × × ( sin + × cos ) )

[lb N]

 

TL

=   ( F × D1 ×10-3 ) / (2 η × 0.01 )   ( Dp1 / Dp2 )

 

=   (  ×   ×10-3 ) / ( 2 × × 0.01 )   × (  /  )

= [lb·in] [N·m]

 

=   [oz·in]

 

Required Stopping Accuracy

 

Δθ

=  Δl ( 360° / π D1 ) ( Dp2 / Dp1 )

 

=    × ( 360 / (3.14 × )  ) × (  /  )

[deg]

Other requirement(s)

 

 


- end of the report -
Unit Conversion

Length:


Mass:


Weight:


Inertia:


Torque:


Speed:

°

° = For Stepper Motors input Step Angle

We're Here to Help

Service and Support

Business Hours:

Monday to Friday

8:30am EST to 5:00pm PST

 

Technical Support:

1-800-GO-VEXTA (468-3982)

 

Motor Sizing Services Available



©2024 - ORIENTAL MOTOR USA CORP. - All Rights Reserved

Friction coefficient table (reference)

Materials

Dry

Lubricated

Aluminum

Aluminum

1.0

0.3

Aluminum

Steel

0.6

 

 

Brass

Steel

0.5

 

 

Graphite

Steel

0.1

0.1

Polythene

Steel

0.2

0.2

Polystyrene

Steel

0.3

0.3

Rubber

Steel

0.4

 

 

Steel

Steel

0.8

0.2

Teflon

Steel

0.04

0.04

Wood

Wood

0.5

0.2

Positioning operation

Step 1 :

Leave the rotor inertia Jo and the gear ratio i blank if you have not selected any motor (or geared motor) yet. Then, fill in the rest of the form. The software will temporary calculate the acceleration torque with a load/rotor inertia ratio of 5:1.

Step 2 :

Select a product based on the required torque and the required speed. Then, confirm the inertia ratio to be within the recommendation. (See the motor selection tips that will appear on the result window for the detail)

Step 3 :

Return to the form and enter the rotor inertia Jo and the gear ratio i of the product you have selected to calculate the torque requirement using that particular product. If you selected a round shaft type motor (without gearhead), leave i blank or enter 1.

Roter inertia Jo :

This value is found in the specification tables for stepping motor products.

Gear ratio i :

This value is the gear ratio of the geared motor product you selected.
* These values are only used to calculate a more accurate acceleration torque.

This number includes the driver pulleys and idler pulleys being rotated as the motor turns.