AGV需要多少扭矩? 具有工程標準的基於有效負載的答案

AGV需要多少扭矩? 具有工程標準的基於有效負載的答案

Engineers designing Automated Guided Vehicles (AGV) and Autonomous Mobile Robots (AMRs) routinely ask one question early in the project: how much torque does the drive motor actually need? The answer is never a single number. It depends on vehicle mass, acceleration target, slope angle, 輪徑, floor friction, number of driven wheels, 變速箱速比, and the thermal duty cycle the motor must sustain. This guide breaks the question down by payload class, provides force-model formulas you can apply immediately, and grounds the recommendations in international motor standards (國際電工委員會 60034-1, 一氧化氮鎂 1) and manufacturer technical data from Maxon, 福爾哈伯, 和安川.

Whether you are building a 50 kg indoor AMR or a 60-ton heavy-load transfer cart, the methodology below will get you to a defensible motor torque specification before you issue an RFQ.

Why Torque Sizing Determines AGV Success or Failure

Undersized torque causes motor stall under load, overheating during sustained operation, and failure to climb ramps. Oversized torque wastes battery capacity, increases wheel slip on smooth floors, and raises BOM cost without performance gain. In production environments, AGV reliability is rarely limited by control software — it is limited by the mechanical interaction between motor torque, wheel traction, and floor conditions [1].

The torque requirement is not a single value but a profile across operating conditions. An AGV that moves smoothly on flat epoxy may stall on a 3% ramp. A motor that handles straight-line cruising may fail during in-place rotation, which typically demands two to five times the straight-line torque in differential-drive configurations [5].

The Quick Answer: Torque by Payload Class

If you need a ballpark before diving into formulas, the table below maps typical AGV payload classes to per-wheel continuous torque, recommended motor type, voltage platform, and gearbox ratio. These values assume 2 driven wheels, polyurethane tires on smooth concrete (Crr = 0.02), 0.5 m/s² acceleration, 平地板, and a safety factor of 1.5. They are starting points, not final specifications — always validate with the force model in the next section.

The torque values in Table 2 are per driven wheel. For a 2-wheel differential drive, the total tractive torque is double the per-wheel value. For a 4-wheel-drive configuration, divide the per-wheel value by 2 (assuming equal load distribution). Always recalculate using the formulas below for your specific operating conditions.

Force Model: Four Resistance Components

AGV drive torque is determined by the total resistance force the vehicle must overcome. The force model decomposes this into four components, each corresponding to a physical resistance source. This decomposition follows the methodology described in the MDPI Engineering Proceedings paper on motor parametric calculations for robot locomotion [9] and is consistent with the sizing approaches used by Oriental Motor [3] and iNetic Motion [4].

1. 滾動阻力 (F_卷)

Rolling resistance is the force required to deform the tire and floor at the contact patch. It depends on the tire material, floor surface, and normal load. Polyurethane tires on smooth epoxy have the lowest rolling resistance; rubber tires on rough concrete have the highest.

公式: F_卷 =米×克×C_RR × 餘弦(我)

在哪裡 米 is gross vehicle mass (公斤), G = 9.81 米/秒², C_RR is the rolling resistance coefficient, 和 我 is the slope angle. 在平坦的地面上, 因斯(0°) = 1, so the term simplifies to m × g × C_RR.

2. Acceleration Force (F_ACC)

Newton’s second law: the force required to accelerate the vehicle’s mass from rest to target speed. This is typically the largest force component during startup.

公式: F_ACC =米×a

在哪裡 A is the target acceleration (米/秒²). AGV acceleration is usually 0.3–0.8 m/s² for stability. AMRs may reach 1.0 米/秒². Emergency deceleration can require 1.5–2.0 m/s², which produces the highest force transient.

3. 等級阻力 (F_年級)

When the AGV operates on a ramp — loading dock approaches, floor transitions, or inclined transport paths — gravity adds a component parallel to the slope. This force can be substantial even on modest grades.

公式: F_年級 = m × g × sin(我)

A 1,200 kg AGV 上 3% ramp must overcome 353 N of grade resistance alone — nearly equal to its rolling resistance on flat ground. If your AGV encounters ramps, grade resistance often becomes the dominant force component.

4. 轉動阻力 (F_轉動) — Differential Drive Only

In differential-drive AGVs (兩個動力輪, 多個腳輪), in-place rotation generates the highest torque demand. Caster wheels must pivot, creating significant scrub resistance. An engineering approximation from field data [5]:

公式: F_旋轉 = (2 × F_卷 × √(W² + L²)) / W

在哪裡 W is wheel track width and l is vehicle length. 在實踐中, rotation torque is 2–5× the straight-line torque, and it usually determines the peak torque rating of the motor.

Core Torque Formulas and Variables

Combining the four force components, the total driving force and wheel torque are calculated as follows. This formulation is consistent with the method described in the MDPI Engineering Proceedings paper [9] and the AGV Drive Wheel sizing guide [2].

Total Driving Force

F_全部的 =F_卷 + F_ACC + F_年級

(Turning resistance is evaluated separately as a peak condition, not added to the continuous force.)

Per-Wheel Torque

時間_車輪 = (F_全部的 × r_車輪) / n_駕駛

在哪裡 r_車輪 是 已載入 車輪半徑 (not the nominal radius — a polyurethane tire compresses 2–5 mm under load), 和 n_駕駛 is the number of driven wheels sharing traction.

Motor-Side Continuous Torque

時間_發動機 = (時間_車輪 × 順豐) / (我×n_G)

Where SF is the safety factor (1.25–1.5 for indoor, 2.0 for heavy industrial, 2.5 for safety-critical), 我 is the gearbox reduction ratio, 和 這_G 是變速箱效率.

適用於 AGV 應用, two-stage planetary gearboxes are the most common choice because they offer the best balance of efficiency, 扭力密度, and backlash. For an in-depth comparison of gearbox types, 看看我們的 spur gear motor vs. 行星齒輪馬達 分析. Worm gearboxes are generally avoided in AGVs due to their low efficiency (which wastes battery capacity) and self-locking behavior (which prevents coasting and regenerative braking).

Power Check

P_車輪 =F_全部的 × v
P_發動機 =P_車輪 / (這_G × n_發動機)

在哪裡 v is target travel speed (多發性硬化症), and η_發動機 is the motor efficiency (0.85–0.92 for BLDC at rated load). This power figure should include a 30–50% margin for surge, braking hold, and ramp startup.

工作範例: 150 kg AMR and 1,200 kg AGV

例子 1: 150 公斤AMR (Goods-to-Person Robot)

結果: A 150 kg AMR requires approximately 0.36 N·m continuous motor torque per drive wheel with a 20:1 行星齒輪箱. A 24在 BLDC 電機中 in the 200–300 W range with a 42–57 mm frame size is appropriate. 這 complete AGV motor selection guide provides additional payload classes and motor model recommendations.

例子 2: 1,200 kg AGV (Assembly Line Transport)

結果: 這 1,200 kg AGV requires approximately 3.04 N·m continuous motor torque per wheel with a 30:1 變速箱. A 48V BLDC motor in the 1–2 kW range (86–115 mm frame) is appropriate. Note that the grade resistance (353 否) contributes 30% of the total force — if the AGV operates only on flat ground, the required torque drops to 2.2 N·m and the power to 1,540 W. This highlights why you must size for the worst-case operating point, not the average.

For a deeper treatment of torque calculation methodology, including differential-drive turning torque and inertia matching, 看看我們的 AGV馬達扭矩計算指南 with full force models and standard references.

Payload-Based Motor Selection Matrix

The table below synthesizes the calculations from the worked examples and extends them across the full payload range. It assumes 2-wheel differential drive, polyurethane tires on smooth concrete, 0.5 m/s² acceleration, and includes both flat-ground and 3% grade scenarios.

For custom motor specifications outside these standard payload classes, GreenSky Power offers custom electric motor design 框架尺寸從 22 毫米至 120 毫米, voltage options from 12V to 72V DC, and integrated gearbox solutions.

熱驗證: 國際電工委員會 60034-1 工作週期

Torque alone does not guarantee motor survival. The motor must sustain the required torque within its thermal limits over the actual duty cycle. 國際電工委員會 60034-1:2022 (版 15, published March 2026) defines ten duty cycle classifications, of which five are most relevant to AGV applications [7].

Most AGV applications fall under S3 or S4 duty. The key distinction: if your AGV starts and stops frequently (typical cycle: 10 seconds moving, 20 seconds loading), the motor winding does not fully cool between cycles, and the continuous torque rating must cover the RMS torque over the full cycle, not just the peak.

RMS Torque Calculation

For intermittent duty, calculate the RMS torque over one complete cycle:

時間_有效值 = √[(T₁²×t₁ + T₂²×t₂ + … + 時間_n²×t_n) / (t₁ + t₂ + … + t_n)]

The motor’s rated continuous torque must exceed T_有效值 at the operating ambient temperature. If T_有效值 exceeds the rated torque, the motor will overheat — even if the peak torque is well within the motor’s capability.

Thermal Derating by Ambient Temperature

Motor torque ratings in datasheets are specified at 25°C ambient (per Maxon standard specification 100/101) [11]. 在較高環境溫度下, the permissible continuous torque decreases.

If your AGV operates in a 40°C ambient (common in un-air-conditioned warehouses), you must derate the motor by 10–15%. 馬達額定為 5 N·m continuous at 25°C delivers only 4.25–4.50 N·m at 40°C. For high-temperature environments, specify Class F (155℃) 或H級 (180℃) 絕緣, which allows 100% rated current up to 50°C ambient [12].

一氧化氮鎂 1 Torque Classifications for AGV Motors

一氧化氮鎂 1-2021 classifies motors into four design types based on torque characteristics and starting-load inertia. While NEMA standards are primarily used for AC induction motors, the torque classification framework is useful for understanding motor behavior under AGV startup conditions. IEC Design N and Design H classifications are roughly equivalent to NEMA Design B and C, 分別 [8].

For BLDC motors used in AGVs, the NEMA design classification is less directly applicable because BLDC motors are electronically commutated and their torque-speed curve is determined by the controller, not the rotor design. 然而, the concept of locked-rotor (開始) torque maps to the BLDC motor’s peak torque rating, which is typically 2–3× the continuous torque rating for 30–60 seconds before thermal protection activates.

The relationship between NEMA torque classifications and BLDC motor selection is discussed in our BLDC motor vs. 伺服電機 比較, which covers how electronic commutation changes the torque-speed envelope.

峰值與. 連續扭矩: Why Most Sizing Errors Happen Here

The single most common mistake in AGV motor selection is sizing for peak torque without validating continuous thermal performance. Motor datasheets advertise peak torque prominently because it is the higher number, but peak torque is only available for a limited duration (typically 30–60 seconds) before the winding reaches its thermal limit.

Maxon specifies that motor constants have tolerances of up to ±10% and change with motor temperature — catalog values apply at 25°C, and a warm motor produces less torque [11]. Faulhaber’s DC Motors Technical Information notes that for optimal motor operation, the required speed should be higher than half the no-load speed, and the load torque should be less than the maximum continuous torque [12]. Yaskawa’s SigmaSelect sizing software generates a comparison report between servo system capability and application requirements, explicitly separating peak and continuous operating points [13].

Practical rule: Size the continuous torque to cover the RMS torque of the duty cycle (including derating for ambient temperature), then verify that the peak torque covers the worst-case transient. If the peak/continuous ratio of your selected motor is less than 2.0×, you may need a larger motor even if the continuous torque appears adequate.

Gearbox Matching: Reflected Torque and Inertia

The gearbox does more than reduce speed and multiply torque. It also transforms the load inertia as seen by the motor, which affects control stability and acceleration response.

Reflected Inertia

The load inertia reflected to the motor shaft is divided by the square of the gearbox ratio:

傑_reflected = J_加載 / i²

在哪裡 傑_加載 is the vehicle inertia at the wheel and 我 is the gearbox ratio. A 20:1 gearbox reduces the reflected inertia by a factor of 400, making the motor see a much smaller inertia. This is critical for servo-controlled AGVs where the inertia ratio affects tuning stability.

For AGV applications using BLDC motors with Hall-sensor feedback, an inertia ratio below 10:1 is generally acceptable because the velocity control loop does not require the precision of a position loop. For applications requiring precise positioning (例如, AGV docking), consider upgrading to a motor controller with encoder feedback and targeting an inertia ratio below 5:1.

Gearbox Selection for AGV Drives

For AGV drive systems, the gearbox ratio is selected to place the motor’s operating speed in its efficiency sweet spot (typically 1,500–3,000 RPM for BLDC motors). Below 1,000 轉速, torque ripple and cogging become noticeable; above 3,500 轉速, bearing life degrades and noise increases [12].

我們的 spur vs. planetary gearbox comparison provides a detailed analysis of why planetary gearboxes are preferred for AGV applications — higher torque density, lower backlash, and coaxial output that simplifies wheel-hub integration. For applications requiring right-angle output (例如, steering drives), 我們的 gearbox product page lists NMRV worm gearboxes and bevel-helical options.

Traction Verification: Preventing Wheel Slip

Calculating the required torque is necessary but not sufficient. The torque must be transmissible through the wheel-floor contact. If the applied torque exceeds the friction limit, the wheel slips — and encoder feedback becomes unreliable, directly affecting navigation accuracy [1].

Traction Limit Formula

F_{traction_max} = μ × N_駕駛

Where μ is the static friction coefficient between wheel and floor, and N_駕駛 is the normal force on the driven wheel (not the total vehicle weight — only the weight borne by the driven wheels).

Verification rule: The per-wheel tractive force (F_全部的 / n_駕駛) must not exceed F_{traction_max}. If it does, either increase the number of driven wheels, add ballast to increase normal force on driven wheels, or select a higher-friction tire compound.

適用於差動驅動 AGV, the in-place rotation condition is the most likely to cause slip because all the tractive force is concentrated on two wheels pivoting in place. If the calculated F_旋轉 exceeds the traction limit, the AGV will scrub instead of rotating cleanly, causing tire wear and position error.

Reading Motor Datasheets: 麥克森, 福爾哈伯, 和安川

Motor manufacturers present torque data in different formats. Understanding how to read these datasheets is essential for accurate AGV motor selection.

麥克森: Speed-Torque Line and Motor Constants

Maxon’s catalog specifies the speed-torque line, which is linear for coreless DC motors and BLDC motors with slotless windings. The key parameters are [11]:

• 扭力常數 (k_米) in mNm/A — the proportional relationship between current and torque. For coreless Maxon motors, torque and current are strictly proportional, allowing the motor to function as a torque sensor by measuring current.
• Speed-torque gradient (Δn/ΔM) in rpm/mNm — how much speed drops per unit of torque increase. A smaller value means a stiffer motor. The gradient is constant for most motors and equals the ratio of no-load speed to stall torque.
• Nominal torque (maximum continuous torque) — the torque the motor can deliver indefinitely at 25°C ambient without exceeding its thermal class.
• 攤位扭矩 — the torque at zero speed. Never an operating point; causes rapid overheating.

Maxon notes that motor constants have tolerances of up to ±10% and change with temperature. A warm motor is weaker — the speed-torque gradient increases as the motor heats up. This means a motor sized at the edge of its continuous torque rating at 25°C may be underpowered at 40°C ambient.

福爾哈伯: Operating Range and Thermal Limits

Faulhaber’s DC Motors Technical Information [12] defines the motor’s operating range on the speed-torque diagram, bounded by:

• Maximum continuous torque (thermal limit line) — the torque sustainable indefinitely.
• 最大速度 (mechanical limit) — determined by bearing and commutation capabilities.
• Maximum output power line — typically at 50% of stall torque and 50% of no-load speed.

Faulhaber recommends operating the motor such that the required speed is higher than half the no-load speed at nominal voltage, and the load torque is less than the maximum continuous torque. This ensures the motor operates in its efficient range and avoids excessive copper losses.

安川: SigmaSelect Sizing Methodology

Yaskawa’s SigmaSelect software [13] takes a system-level approach to servo motor selection. The user inputs:

• Application load data (大量的, 摩擦, external forces)
• Mechanical transmission parameters (變速箱速比, 效率, 慣性)
• Motion profile (速度, 加速度, dwell time)

The software then generates a report comparing the servo system’s capability (峰值扭矩, continuous torque, 速度, thermal capacity) against the application’s requirements (RMS torque, 峰值扭矩, 最大速度). This report format is valuable because it explicitly separates peak and continuous operating points and includes a thermal margin calculation. While Yaskawa’s SigmaSelect is designed for AC servo motors, the methodology applies directly to BLDC servo systems used in AGVs.

Seven Common Torque Sizing Mistakes

6-Step Torque Selection Workflow

The following workflow consolidates the methodology from this guide into a practical sequence for AGV motor selection. It is compatible with the approaches used by Oriental Motor’s AGV sizing tool [3], iNetic Motion’s calculator [4], and Yaskawa’s SigmaSelect [13].

For AGV applications requiring precise positioning (docking, pallet handling), also evaluate the servo motor vs. 步進電機 tradeoff, and consider the direct drive vs. 齒輪馬達 comparison for hub-drive configurations. 我們的 bldc vs. servo motors for AGVs analysis provides a three-layer comparison (standard BLDC, 無刷直流伺服, 交流伺服) specific to AGV drive systems.

常問問題

How much torque does a typical AGV need?

It depends on payload. A 150 kg AMR needs approximately 0.4–0.7 N·m continuous motor torque per wheel (與一個 20:1 變速箱). A 1,200 kg AGV needs 3–5 N·m. A 5-ton transfer cart needs 10–15 N·m. The quick-reference table in Section 2 provides values for five payload classes.

AGV馬達扭力公式是什麼?

時間_發動機 = (F_全部的 × r_車輪 × 順豐) / (n_駕駛 × i × η_G), 其中 F_全部的 =F_卷 + F_ACC + F_年級, SF is the safety factor, i is the gearbox ratio, and η_G 是變速箱效率.

What safety factor should I use for AGV torque?

1.25–1.5 for indoor AMRs on smooth floors. 1.5–2.0 for industrial AGVs with ramps or frequent starts. 2.5 for safety-critical applications (醫療的, 食品加工, molten metal transport). The safety factor covers measurement uncertainty, friction variation, and degradation over the motor’s service life.

How does slope angle affect AGV torque?

Grade resistance is F_年級 = m × g × sin(我). A 3% ramp (1.72°) adds 294 N per 1,000 kg of mass. 對於 1,200 kg AGV, the grade force on a 3% ramp equals 353 N — nearly matching the rolling resistance. Always size for the worst-case slope in the operating environment.

Should I size for peak or continuous torque?

Both. The continuous torque must exceed the RMS torque of the duty cycle (熱驗證). The peak torque must exceed the worst-case transient (acceleration from standstill, ramp start, in-place rotation). Peak torque is typically 2–3× continuous for BLDC motors, available for 30–60 seconds.

What IEC standard applies to AGV motor torque?

國際電工委員會 60034-1:2022 defines duty cycle classifications (S1–S10). Most AGVs operate under S3 (intermittent periodic) or S4 (intermittent with starting influence). The motor’s rated torque must exceed the RMS torque at the operating ambient temperature, accounting for thermal derating per IEC 60034-1 thermal class limits.

下一步

If you have your AGV parameters ready — gross mass, target speed, 加速度, 坡, wheel diameter — our engineering team can run the torque calculation and recommend a motor, 變速箱, and controller combination. 聯絡綠天電力 with your specifications, or browse our complete motor product catalog for BLDC motors, 行星齒輪箱, 和 馬達控制器 suitable for AGV drive systems.

All GreenSky Power motors are tested per 國際電工委員會 60034 和國標 1032 testing standards, with dynamometer test reports included with every shipment. For AGV-specific applications, 我們提供 客製化馬達設計 with integrated encoder, 制動, and gearbox options.

參考

1. Honest Edrive Equipment Co., 有限公司. (2026). 力矩, 牽引力, and Tread: Engineering Factors in AGV Drive Wheels. 從 https 檢索://www.hagvwheel.com/engineering-factors-in-agv-drive-wheels.html
2. AGV驅動輪. (2026). 如何計算 AGV 驅動輪扭力和馬達尺寸. 從 https 檢索://agvdrivewheel.com/blog/how-to-calculate-agv-drive-wheel-torque-and-motor-sizing
3. 東方汽車. (2026). AGV：自動引導車輛選用工具. 從 https 檢索://www.orientalmotor.com/motor-sizing/agv-sizing.html
4. iNetic Motion. (2026). 自動導引車 & AMR Motor Calculator for Robotics and Mobility. 從 https 檢索://ineticmotion.com/agv-motor-calculator/
5. 一控智慧裝備 (雙控). (2026). 差動驅動輪 AGV 馬達選用指南: 扭矩計算和慣量匹配. 從 https 檢索://en.bicontrols.com/news_detail/104.html
6. 一控智慧裝備 (雙控). (2025). Torque Calculation and Optimization for AGV Drive Motors: Enabling Flexible Logistics in Automotive Manufacturing. 從 https 檢索://en.bicontrols.com/news_detail/50.html
7. 國際電工委員會. (2026). 國際電工委員會 60034-1:2022 — Rotating Electrical Machines — Part 1: 評級和表現. 版 15. 日內瓦: 國際電工委員會. 從 https://www.iec.ch/government-regulators/electric-motors
8. Engineering ToolBox. (2026). Electric Motors — IEC and NEMA Standard Torques. 從 https 檢索://www.engineeringtoolbox.com/iec-nema-standards-torques-d_741.html
9. Siddiqui, F. 一個。, 等人. (2022). “Motor Parametric Calculations for Robot Locomotion.” 工程論文集, 20(1), 8. MDPI. 從 https 檢索://www.mdpi.com/2673-4591/20/1/8
10. DFRobot. (2025). How to Calculate the Motor Torque for a Mobile Robot. 從 https 檢索://wiki.dfrobot.com/tutorial/20135
11. 麥克森集團. (2025). Motor Data and Simulation — maxon Support. Standard Specification 100 (直流電機) / 101 (EC Motor). 從 https 檢索://support.maxongroup.com/hc/en-us/articles/360013761160-Motor-data-and-simulation
12. 博士. 弗里茨·福爾哈伯有限公司 & 鈷. 公斤. (2022). Technical Information: 直流電機. 從 https 檢索://www.faulhaber.com/fileadmin/Import/Media/EN_TECHNICAL_INFORMATION.pdf
13. 安川美國, 公司. (2025). SigmaSelect Servo Sizing Software — Product Overview. 從 https 檢索://www.yaskawa.com/products/motion/sigma-7-servo-products/software-tools/sigmaselect
14. University of Florida, Machine Design Lab. (2015). Useful Motor/Torque Equations for EML2322L. 從 https 檢索://web.mae.ufl.edu/designlab/motors/Useful%20Equations.pdf
15. AGV Motor. (2025). AGV/AMR Design Calculator: Key Points from Parameter Calculations to Selection Guidelines. 從 https 檢索://agvmotor.com/blogs/knowledge/agv-amr-design-calculator-key-points-from-parameter-calculations-to-selection-guidelines