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Instructions

This spreadsheet calculates the mass and moment of inertia for a rotary weapon made up of rings (tubes
bars sharing a common center of rotation. You may combine elements that make up your weapon, such a
make a 'tuna can' spinner. Drums are rings with two disks for ends (calculate as one double thickness di

Fill in the blue information boxes on the 'Calculations' sheet as appropriate -- set the thickness of any un
Note that the calculations do not include the inertia of the motor armature.

The spreadsheet also calculates the kinetic energy and approximate spin-up time for the weapon when p
PMDC electric motor and gear reduction. Conversions for english / metric units are provided in a 'conver
numbers provided with the spreadsheet are for a C40-300 MagMotor geared 3:1 spinning a 32" by 1/4" tit

Brushless motor specifications rarely include the required 'Stall Torque' value. Stall torque may be estim
per volt, and internal resistance.
Voltage : 12 volts
Kv : 1500 rpm/volt
Ri : 39 mW
Note: many brushless motor controllers have a 'soft start' feature that reduces maximum torque and leng

How much kinetic energy is enough? High-power spinners tend to have more than 16 joules of energy pe
class. Examples:

- Robot Wars heavyweight horizontal spinner 'Hypno-Disc' stores about 6000 joules in it's weapon (2
- The antweight 'VDD' stores about 19 joules in it's vertical disk.

How fast should your weapon spin-up? Aim for at least 8 joules per pound in two seconds. You may get a
arenas (less in small ones), and you can buy some extra time if your 'bot is nimble enough to protect the
impact by dodging.

Calculating the battery power requirement for your spinning weapon has a great many variables. The bat
spreadsheet assumes that each weapon hit completely dissipates the energy stored in theg weapon, and
draws only no-load current to maintain the weapon at speed. It is a rough esitimate of required battery ca

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


y weapon made up of rings (tubes), disks, and rectangular
hat make up your weapon, such as a ring and a disk to
culate as one double thickness disk).

iate -- set the thickness of any unused elements to zero.


re.

n-up time for the weapon when powered by a specific


ic units are provided in a 'conversions' table. The example
ared 3:1 spinning a 32" by 1/4" titanium disk.

value. Stall torque may be estimated from voltage, RPM

Stall Torque:
1.96 N-m

educes maximum torque and lengthens spin-up.

more than 16 joules of energy per pound of their weight

bout 6000 joules in it's weapon (27 joules/pound).

nd in two seconds. You may get a little more time in large


t is nimble enough to protect the weapon from premature

s a great many variables. The battery calculation in the


nergy stored in theg weapon, and that the weapon motor
h esitimate of required battery capacity.

go to the main worksheet.


Combat Robot Rotary Weapon Moment of Inertia, Spin-Up Time, and Battery Requirement
No-Load Speed 4000 RPM Material Densities kg/m3 Conversions
Stall Torque 27.7 N-m Steel: 7800 from to
Motor and Gear Reduction 4 to 1 Titanium: 4500 oz-in: N-m
Drive
No-load Current * 3.5 amps Aluminum: 2760 3037 21.43
Operating Voltage * 24 volts Magnesuim: 1770 inches: meters
* Optional - for battery calculation Carbon Fiber: 1600 25 0.635
For a ring Material Density 4500 kg/m3 Lexan: 1200 kilos: pounds
or tube Height 0.000 Meter Plywood: 615 3.59 7.91
Outer Radius 0.000 Meter
Thickness 0.0 mm
Moment of Inertia 0 KgM2 Rotary Weapon Spin-Up
Mass 0.00 Kilos 1000 7000

900
For a disk Material Density 4500 kg/m3 6000
Radius 0.406 Meter 800
Thickness 6.4 mm
5000

Joules
700
Moment of Inertia 1.229182 KgM2

RPM
Mass 14.91 Kilos 600
4000

For a bar Material Density 4500 kg/m 3 500


Length 0.000 Meter 3000
400
Width 0.000 Meter
Thickness 0.0 mm 300 2000
Moment of Inertia 0 KgM2
200 Spee
Mass 0.00 Kilos d
1000
100
Moment of Inertia 1.229182 KgM2
Total
Mass 14.91 Kilos 0 0
0.00 0.50 1.00 1.50 Seconds
2.00 2.50 3.00 3.50 4.00
Weapon will spin to: 630 RPM [ 63% Max ]
with: 2689 Joules energy Spreadsheet copyright 2007 by Mark Joerger
Results in: 1.16 seconds. Run Amok Combat Robotics
At: 950 RPM [ 95% Max ]