Pipe climber

Hi I got a physics question and would like you to help me abit urgent. I have a device that has to climb a pipe of 105mm in diameter. I have the basic concept of my device I just need to know a few things, the device has 4 wheels acting on the inside wall of the pipe it has to climb up 2.5 meters then come down pulling a chain of 0.2 kg/m the tube is set 0.5 meter above the ground, so the chain will need to be carried up all the way to the top. So 3 meters in total minus the height of the device which is 20cm. The chain is attached to the bottom. Wheel is 9mm

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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