# Pipe climber

1. What force should the wheals act on the inner

2. what motor is right to be used to pull the device and the chain, the device weight roughly 370 g without the motors. Thanks you

Attempt at solution

Total weight of chain and device is 0.2kg x 2.8m = 0.56kg

Adding the device weight of 370g to 560g we total to 0.93kg

Well with two motors on two wheels, I can calculate the force acting down on the device which is force= mass x gravity

F = 0.93kg x 9.81

F= 9.12 N

So there fore I need two motors producing more force than 9.12N to create an upward force, therefore

If I have a motor attached to a wheel of 9mm in diameter. And when I buy I motor I am given the angular velocity (w), and the torque (t)

So if torque = force x radius of wheel x sin90

And I have torque and radius then rearranging the equation to get force upwards is

Force = torque/ (radius x sin90)

So now I have force acting upwards and I can get a good enough motor to have a higher force acting upwards than downwards.

The motor I buy will have the info of the torque and angular velocity

So to get a tangent velocity on a position on a wheel

Tangent velocity = radius of circle x angular velocity

Having the tangent velocity in rad/sec can I work out the time it takes for the wheel to travel up to the top, and is there any thing a posing the velocity to decrease it if so how do can I calculate it and what is it. Thank you

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