Adept Lynx Platform - Manual (Page 40)

Adept Lynx Platform User's Guide, Rev B
Page 40 of 116
Chapter 4: Payloads
NOTE: In the following table, 50% is 900 mm/sec., 100% is 1800 mm/sec.
Table 4-1. Typical Watts Drawn
% Speed
kg 50 100
0 80 107
60 94 125
To calculate your estimated run-time:
1. Find the closest match to your payload weight and average driving speed, as a per-
centage of full speed.
This will be a value in Watts.
2. Add the power used by all electrical devices on your payload, in Watts.
It is unlikely that any electrical device on your payload will operate continuously, so
you need to figure out what average percent of the time it will operate, and multiply
that by the Watts of the drain to get an average drain factor.
3. Divide 1500 W*hr by that value, in Watts.
This will yield your estimated run-time, in hours.
Example Calculation
If your payload weighs 60 kg, and you expect to run at an average of 50% full speed, you
would use the value of 94 from the table.
If your payload includes a device that draws 150 watts half of the time, add 75 (150*50%) to
94, to get 169 Watts, total.
Dividing 1500 W*hr by 169 Watts yields:
1500 W*hr/169 W = 8.87 hr of estimated run-time.
Payload Bay Access
The area between the Lynx platform and your payload is the payload bay. You will occa-
sionally need to access the Lynx platform and the connectors in the payload bay. This is where
you can access all of the platform power and I/O connectors. It's a good idea to provide for
access to this when designing your payload.
If the payload is small and light enough, it can just be lifted off of the platform to access the
connectors in the payload bay. Care should always be taken not to damage any wiring
between your payload and the platform.
A larger, heavier payload may need some form of hinge, so that the payload can be tilted out
of the way while you access the payload bay. Consideration should be given to harness length
and position so that this can be accomplished without disconnecting or damaging any con-
nectors or harnesses.