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Motor Parametric Calculations for Robot Locomotion^{ †}

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## Abstract

**:**

## 1. Introduction

## 2. Methodology

#### 2.1. Mathematical Representation

#### 2.2. Proposed Working Criteria

## 3. Results and Discussion

#### 3.1. Graphical Representation of the Equations

#### 3.2. Results from Proposed Working Criteria

## 4. Conclusions

## Author Contributions

## Funding

## Institutional Review Board Statement

## Informed Consent Statement

## Data Availability Statement

## Acknowledgments

## Conflicts of Interest

## References

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**Figure 1.**Vector representation of gradient force (${F}_{G}$), rolling resistance force (${F}_{\mu}$), force due to gravity (M × g) and air resistance force (${F}_{air}$) acting on the wheel when moved on an inclined surface at an angle ‘$\alpha $’.

**Figure 2.**Inputs and outputs of motor calculation: (

**a**) Case I, when motor is to be selected for given payload; (

**b**) Case II, when motor is available and its payload capacity is to be calculated.

**Figure 3.**Motor load parameters (torque and power calculations given in subsequent section): (

**a**) motor load profile with varying angular velocity [2]; (

**b**) change in mechanical power corresponding to change in angular velocity at constant torque of 38.97 N·m; (

**c**) change in motor torque corresponding to change in angular velocity at constant power of 186.89 watts.

**Figure 5.**MATLAB graphical user interface: (

**a**) calculation for Case I, motor is to be selected for given payload; (

**b**) calculations for Case II, motor is available and its payload is to be calculated.

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## Share and Cite

**MDPI and ACS Style**

Ali, A.H.; Kazmi, S.M.H.; Poonja, H.A.; Khan, H.; Shirazi, M.A.; Uddin, R. Motor Parametric Calculations for Robot Locomotion. *Eng. Proc.* **2022**, *20*, 8.
https://doi.org/10.3390/engproc2022020008

**AMA Style**

Ali AH, Kazmi SMH, Poonja HA, Khan H, Shirazi MA, Uddin R. Motor Parametric Calculations for Robot Locomotion. *Engineering Proceedings*. 2022; 20(1):8.
https://doi.org/10.3390/engproc2022020008

**Chicago/Turabian Style**

Ali, Abdullah Haider, Syed Murtaza Hassan Kazmi, Hasnain Ali Poonja, Humayun Khan, Muhammad Ayaz Shirazi, and Riaz Uddin. 2022. "Motor Parametric Calculations for Robot Locomotion" *Engineering Proceedings* 20, no. 1: 8.
https://doi.org/10.3390/engproc2022020008