SHANDONG ＵＮＩＶＥＲＳＩＴＹ ＯＦ ＴＥＣＨＮＯＬＯＧＹ

Graduation Project
Manual

DESIGN OF SERVING MACHINE FOR FOOTBALL

PENALTY TRAINING

Institute: School of Mechanical Engineering

Major: Mechanical Engineering

Student’s Name: FOTIS EBRAHIM MOHAMMED ABDULLAH

Student ID: 19825051029

Mentor (Instructor) Teacher: Dr. Tang Jiajing

第一章引言 山东理工大学

June 2023

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 Abstract

Abstract

A football player must develop his technical and tactical abilities in order to perform
well on the field. The repetition of the same positions where the football player holds
the ball makes it possible to improve these talents. With the use of a machine, these
similar positions can be repeated repeatedly. In this study, a football throwing
machine design is created for thorough educational evaluation that can deliver
direction and velocity for the ball in a repeatable and controllable manner. The ball
throwing machine's ball holding allowed for the usage of three balls. There are two
ball-throwing wheels, and they are both composed of polyurethane. The machine has
horizontally placed wheels that control the machine's speed and direction. The
rotational speed of every wheel can be changed independently. Two DC motor
actuators are utilized to identify the horizontal and vertical direction of the ball's
movement. There are two different types of wheel hub motors, and these wheels can
move the machine left, right, forward, and backward. Additionally, there are two
different types of support wheels. These two-wheel support systems provide full 360°
rotation and enable easy movement and launcher maneuvering for the operator.
Electronic controls are used to direct the orbit, throwing laps, and velocity of the ball.
The Delta PLC (Programmable Logic Controller) and HMI (Human Machine
Interface) panel are used to control every aspect of ball throwing. For PLC-based
controls, a user interface is created. Due to the interface, numerous training programs
may be created by a handler or trainer using the operator panel, and a football player
can train in a variety of densities. A towing arm is used to carry the tripod system
conveniently and prevent it from toppling. The machine can be fed directly from the
grid circuit or an accumulator.

Keywords: Soccer Launcher machine, Ball Shooter, Thrower machine, Structure

Design

摘要

一名足球运动员必须发展他的技术和战术能力才能在球场上表现出色。足
球运动员持球的相同位置的重复可以提高这些才能。通过使用机器，可以重复
这些相似的位置。在这项研究中，为进行全面的教育评估而创建了一种足球投
掷机设计，它可以以可重复和可控的方式为球提供方向和速度。抛球机的持球

Ⅰ
 摘要

允许使用两个球。有两个抛球轮，它们都是由聚氨酯制成的。该机器有水平放
置的轮子，用于控制机器的速度和方向。每个轮子的转速可以独立改变。两个
直流电机致动器用于识别球运动的水平和垂直方向。有两种不同类型的轮毂电
机，这些轮子可以使机器左右移动，向前和向后移动。此外，还有两种不同类
型的支撑轮。这些两轮支撑系统提供完整的 360° 旋转，使操作员能够轻松移动
和操纵发射器。电子控制用于控制球的轨道、投掷圈数和速度。Delta PLC（可
编程逻辑控制器）和 HMI（人机界面）面板用于控制投球的各个方面。对于基
于 PLC 的控制，创建了一个用户界面。由于界面的原因，许多培训程序可以由
处理程序或培训师使用操作面板创建，足球运动员可以接受各种密度的训练。
牵引臂用于方便地携带三脚架系统并防止其倾倒。该机器可以直接从电网电路
或蓄电池供电。

关键词：足球发球机，射球机，发球机，结构设计

Content

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 Content

s
Abstract...........................................................................................................................I
摘要...............................................................................................................................II
Chapter 1 Introduction...................................................................................................1
1. Introduction.................................................................................................................1
1.1 Bacground and Significance of The Project.................................................................1
1.2 Literature review........................................................................................................2
1.3 Objective of study:.....................................................................................................3
1.4 Design Methodology..................................................................................................3
1.5 The purpose of Football launcher machine..................................................................3
Chapter 2 Mechanical parts and design methods...........................................................4
2.1 Mechanical Parts and Design Methods....................................................................4
2.2 Base..........................................................................................................................6
2.3 Spine and its formula..................................................................................................7
2.4 Ball holder.................................................................................................................8
2.5 Ball stopper................................................................................................................9
2.6 The sub structure:.......................................................................................................9
2.7 Flexible Coupling.....................................................................................................10
2.8 Adjustability of Ball Directions................................................................................12
2.9 L-shaped..................................................................................................................12
2.10 Support Wheels......................................................................................................13
2.11 Motor mount and Cup.............................................................................................14
Chapter 3 Electric section...............................................................................................15
3.1 The wheels and Motors:...........................................................................................15
3.2 Launcher wheel........................................................................................................16
3.3 DC Motors:..............................................................................................................17
3.4 Software and Control Group of the Throwing Machine.............................................19
3.5 Wheel hub motor and its formula..............................................................................20
Chapter 4 Critical calculations........................................................................................22
4.1 Wheel Launcher Calculations- Polyurethane.............................................................22
4.2 Energy Calculations.................................................................................................22
4.3 Calculation a wheel Kinetic energy after shooting a ball...........................................23
4.4 Motor Calculation.....................................................................................................23
Discussion and Result....................................................................................................24
Conclusion.....................................................................................................................25
Acknowledgement.........................................................................................................26
References.....................................................................................................................27

Ⅲ
 Chapter 1 Introduction

Chapter 1 Introduction

1. Introduction

1.1 BACKGROUND AND SIGNIFICANCE OF THE PROJECT

Football is unquestionably loved and played in the majority of countries [1]. The
required success level has not yet been attained, though. It may be claimed that a
football player's high degree of technical ability is the most crucial aspect in
determining the quality of a game [2]. Football or soccer is a team sport played with a
spherical ball between two teams of 11 players. It is played by approximately 250
million players in over 200 countries and dependencies, making it the world's most
popular sport [25]. A goal is located at each end of the rectangular field, known as a
pitch, where the game is played. By advancing the ball past the goal line and into the
opposing goal, you can score. Football demands certain technical skills to be played
effectively, including passing, crossing, free-kick, shoot, dribbling, blocking, and
cutting the ball. It is expected of a successful player to use his feet to handle the ball,
throw curveballs, pass to teammates, and kick the ball with his inside, outside, tip, and
heel. Being able to do things makes the spectators and football players happy. A
football player must control his authority over the ball at all times, whether kicking or
passing, in order to have great technique. The head, chest, feet, or wherever else the
ball strikes can be used for controlling, depending on the location. The speed, height,
and direction of the ball, as well as the player's habits and technique, can all be used
to identify where to stop the ball [1] [3-5]. Repeating it might help a player gain
control and authority over the ball. According to studies, the player memorizes the
moves by repeating them again. This produced effective outcomes in the match, both
technically and aesthetically. Making a soccer launcher machine serves the objective
of allowing players to concentrate on particular abilities and methods by delivering
the ball in a controlled and repetitive manner [6-7]. This aids player in enhancing their
accuracy when shooting, passing, controlling the ball, and receiving, as well as the
goalkeeper's talent. In football, there are tests to determine technique. A practicing
football player may need to be passed in some of these tests, and because human
passing varies, the ball's velocity, height, and direction will also vary [8-9]. A

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 Chapter 1 Introduction

machine will therefore be more trustworthy if the same move is repeatedly trained. If
the ambient conditions are

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 Chapter 1 Introduction

not altered after programming, a machine can repeat the same action multiple times.
In light of this, a player may be able to train alone with the aid of a ball throwing
machine. The significance of this machine is that it can toss a football-shaped object
frequently and correctly without the need for a second person for catching practice.

1.2 Literature review

A few of the researchers came across some important study on ball-throwing machine
design. In their research, they used SCADA to control DC motors [10]. For this
control, a DC motor speed control device, HMI panel, and PLC were all made by
Delta. The DC motor is ensured to operate in the desired manner by determining its
operating parameters from the HMI panel. Ashtekar and others [11]. By replicating a
real-time industrial operation (a water level controller), they were able to create a
SCADA system. They created the system's process control layer utilizing PLCs
bearing the Delta brand. They used the MODBUS protocol for communication
between the PLC and PC to regulate the water level. Gupta and co [12]. They created
a sophisticated mechanism for controlling electricity. All electrical components
housed inside of rooms or offices could be monitored and controlled by the user
utilizing Delta-branded PLCs and HMI interfaces. To improve the average qualities of
the goalie and striker, they have devised a football throwing concept based on
aerodynamic and mechanical concepts. They devised this idea in order to repeat
various motions, speeds, and orbits appropriately and sequentially. They have built a
bowling ball tossing machine for both recreational and professional uses in their study
by Singh et al. The machine was designed with portability, a portable power supply
for usage in the field, and the ability to stand still safely in mind. Perumal Singh and
el [13]. In their research, they created a robotic volleyball throwing machine.
Software programs Solid Works and AutoCAD were used to program the ball's
motion and velocity as well as its accurate and repeatable path following. Mahapatra
and others [14]. They have created a simulation of a cricket ball-throwing mechanism
with computer support. To simulate the various mechanical components of the
machine using the ADAMS software, they created a virtual model of the ball-
throwing machine in the CATIA software of the CAD/CAE software package [15-
16]. Saal and co [17]. They created the "Footbonaut" measurement system, which can
be used as a measurement and information system and allows for the diagnosis and
training of movement speed. It was said that this technique may boost the football

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 Chapter 1 Introduction

players' current structures for talent development and identification. In a different

study, they used the Footbonaut measurement system to assess the validity

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 Chapter 1 Introduction

and reliability of a soccer short passing test. They concluded that skilled players
execute short passes substantially faster than less proficient players. In this study, a
football throwing machine was created so that football players can improve their
individual qualities and performances, practice frequently, and receive a thorough
training evaluation. We may use different training programs and throw the ball in
different directions thanks to the machine's design. After a trainer creates several
programs, a football player can practice alone at various tempos.

1.3 Objective of study:

The main objective of designing a machine for serving football penalty

training:

To create a system that can accurately and reliable simulate a Penalty kick.

To improve a system that can practice types of shots at varying degrees of difficulty.

To help the players to practice different types of shots, such as long-range shots, high-
angle shots and low angle shots.

1.4 DESIGN METHODOLOGY

Ball throwing machine designed in this study consists of three parts:

Mechanical parts.
Electrical-Electronical equipment.
Software and control group

1.5 The purpose of Football launcher machine

is to mimic the delivery of footballs accurately and consistently. Football players'

training sessions typically involve the usage of a football launcher machine. to
improve the players to practice different types of shots, such as long-range shots,
high-angle shots, low-angle shots and also improve the skills of goalkeepers. In
addition, two hub wheels have been added to the machine so that the two wheels give
easy movement.

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 Chapter 2 Mechanical parts and design methods

Chapter 2 Mechanical parts and design methods

2.1 Mechanical Parts and Design Methods

As Shown in Fig 2, this machine is significant in the lives of soccer players, which
helps the players and the goalkeepers to improve and develop their skills. This
machine consists of several parts, Base, launcher Wheel, Ball Holder, Ball Stopper,
Spine, Wheel Hub, Support Wheel, and a DC motor. So, the Base plays a significant
role which carries all the parts, and it must made from aluminum. The ball holder
carries at least three balls with size 3,4 and 5. The main purpose of the Launcher
wheels is to contain enough energy to be able to successfully launch the soccer balls
at the required speed. The Launcher machine can be controlled by the DC motor, and
it has the ability to increase and decrease the velocity, DC motors with permanent
magnets are managed by a motor drive circuit. Wheel hub makes the movement of the
wheels easier and smoother. The machine is controlled by Board control system.

8
1

7 2

4 3
5

Figure 2.1 (3D project)

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 Chapter 2 Mechanical parts and design methods

1) Ball holder
2) Spine
3) Wheel hub
4) Adjusting height screw and adjusting height nut
5) Support wheel
6) Base
7) DC motor
8) Launcher Wheel

As shown in fig 2.2, the 2D view of the main part of the machine. What I came up
with in the front view is the dimension of the handle is 30 cm and the diameter of the
spine is 30 cm and it’s appropriate for the balls. In the top view, the width is 40 cm,
the length is 65 cm, and the length of the ball holder is 60 cm. In the right view, I
focused about the dimension of the launcher wheel and its dimension is 29 cm and the
height is 6 cm. All these dimensions are almost appropriate for the machine.

Figure2.2 Dimetric view

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 Chapter 2 Mechanical parts and design methods

2.2 Base
The launcher machine's base is made to resist the strain of firing a large number of soccer balls.
Deflections under load were also wanted to be kept to a minimum to increase launch efficiency. The
concept was originally for a big plate with flanges. To make the base move effortlessly in any
challenging situation, I added two wheels with hub motors and two different types of support wheels.
To handle the heavy bending loads that the launching wheels transmit, the base was designed to be
built from aluminum, which doesn't experience infinite life in fatigue like steel, fatigue failure
needed consideration.

As
shown
in fig
2.4, the
2D view
of the
base is
the most

Figure 2.3 Base 3D

important part. What I came up with in the front view is that the dimension of the length is 65 cm,
and the width is 40 cm, which is very appropriate for the base. In the top view, I focused on the
dimensions of the length, width, and the dimensions of the support wheels. In the right view, I came
up with that connects the base, the sub structure and spine.

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 Chapter 2 Mechanical parts and design methods

Figure 2.4 2D view

2.3 Spine and its formula

The spine (Figure 2.5) is the soccer ball holder on which the handlebar is fastened. The precision
and constancy of the ball's trajectory are greatly influenced by the spine [21]. The spine directs and
makes sure that the ball follows a predetermined course as it is fired from the machine. This is
crucial while working on various soccer techniques including shooting, passing, and ball control. The
spine has a diameter of 30 cm and exclusively employs balls in sizes 3, 4, and 5. Materials for the
spine are aluminum due to the inherent aspect of aluminum being lightweight. Aluminum is
lightweight and easily accessible. When designing the spine, steel, aluminum, and composite
materials were all considered. Compared to composite materials and aluminum, steel has a
significant weight. The spine may point horizontally at 180 degrees and vertically at 0 to 90 degrees.
It has the capacity to hold up to three soccer balls, and various materials, geometries, and sizes were
taken into consideration when creating it. The spine's real total length was measured. The following
equations 2.1 and 2.2 are used to calculate the overall length of the spine.

Spinehight =Average male high−head ¿ shoulders−support wheel contribution .(Eq . 2.1)

hieght of spine
cos (15 ° )= (Eq . 2.2)
lenght of spine

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 Chapter 2 Mechanical parts and design methods

The spine was designed with the highest regard to safety in mind. Mounting to the
base was accomplished using a bolt. Through analyzing the forces that would be
applied a factor of safety. The shear strength of the bolt which shows that the spine
will not detach from the base.

Figure 2.5 3D Spine

2.4 Ball holder

One of the design factors and one of the requirements was that of being able to hold
three balls. So, what I ended up with is the simple design of two sliding bars that sat
side by side, which can be seen in Figure 2.6. This allowed the machine to be able to
hold three balls and throw them in 3 seconds. In Fig 6, The soccer ball is shown in the
ball holder's position while it is being delivered from above to the correct area
between the wheels for engagement and propulsion. The ball holder is strong enough
to allow the soccer balls to be placed precisely between the wheels. Soccer balls can
also be damaged by improper wheel engagement since they are inflated. To ensure
that they are fired accurately, it is crucial that the ball is positioned correctly between
the wheels. Aluminum is used to make the ball holder. It will help the machine to be
light because one of the requirements is that the machine weighs no more than 35 Kg.

Figure 1.6 3D Ball holder

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 Chapter 2 Mechanical parts and design methods

2.5 Ball stopper

Moving on to the ball stopper, I came up with a simple design that was user friendly.
So, the small triangle that connects with the center of the machine, which is seen
readily in Figure 2.7. This ball stopper is connected by one socket button head cap
screw to help, and it rotate easy and not get jammed up. This feature adds protection
to the balls so that it won't mar them up nor poke or scratch the outside surface of the
ball. The ball stopper works by a system control, so when the machine is turned on
the ball stopper starts to rotate to the right or to the left side and allows the ball to go
one by one.

Figure 2.7 Ball stopper

2.6 The sub structure:

The substructure that these parts are mounted on needs to be sturdier and more
appropriate. Each motor/wheel assembly is installed separately on a pair of wheel
mounts that extend toward the machine's front. It can launch the ball thanks to two
horizontal wheels mounted in the middle that do their jobs. A ball holder that holds
the stronger and more suitable.

Figure 2.8 The sub-Structure

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 Chapter 2 Mechanical parts and design methods

2.7 Flexible Coupling

The flexible coupling helps the upper part of stability and gives it a smooth movement
up and down. And it is connected by the base and the upper part. In the down below,
more details about it.

Figure 2.9 Flexible Coupling

As shown in fig 2.10, the 2D view of the adjusting height screw, which play role of
lift and lower the structure. In the front and right views, the dimension of the height is
6 cm. In the top view, I mentioned the dimensions of the circle.

Figure 2.10 Flexible Coupling

2D

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 Chapter 2 Mechanical parts and design methods

Figure 2.10 2D view of Adjusting height screw.

Figure 2.11 Flexible Coupling

Why is there a space

between the base and the spine?
Because I added adjusting height nut and adjusting height screw to have more angles
to help the players to practice different types of shots, such as long-range shots, high-
angle shots, low-angle shots.

Here is the design form another side:

Figure 2.12 Flexible Coupling.

As you see here, I can move the machine easily upside and downside by using manual
bar or by controller.

Figure 2.13 Flexible Coupling

Here also two types of socket head cap screw. It makes the machine more stable and
powerful.

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 Chapter 2 Mechanical parts and design methods

2.8 Adjustability of Ball Directions

Other ball directions

are possible by combining movements of the frame. For example, the ball can be
shot at only a slight downward angle, so that it approaches the player's feet, by
lowering the frame and then rotating the wheels to an extreme-forward position.
Furthermore, the direction of the ball in a horizontal plane can be easily changed by
rotating the entire machine laterally using the wheels.

Figure 2.14 Inclined direction Figure 2.15 Adjusting height screw.

2.9 L-shaped

L-shape was designed to eliminate motor wobbling, and it gives the engine stronger
stability even at higher RPMs.

Figure 2.16 L-shaped

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 Chapter 2 Mechanical parts and design methods

2.10 Support Wheels

The two-wheel support system enables full 360° rotation and enables the user to
easily move alongside and maneuver the launcher. It is a device that minimizes effort.
In order to prevent the transverse force and angle from carrying the actual load, the
wheels and axle support the load. An axle with bearing support that is positioned
beneath the frame connects a pair of wheels.

Figure 2.17 Support wheel

As shown in fig 2.18, the 2D view of support wheel, the two-wheel support system
enables full 360° rotation and enables the user to easily move alongside and maneuver
the launcher. So, in front and top view, I came up with the dimension of head and it is
propitiated. In the right view, I focused on the dimension of the wheel and its
dimension.

Figure 2.18 2D view of Support wheel

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 Chapter 2 Mechanical parts and design methods

2.11 Motor mount and Cup

Mount made of high-Quality materials, durable and practical. It easily installs which
convenient to use specification of material to protect motor windings. Conventional
brushless DC motor constructed with permanent magnet rotor located wound stator
and rotates internal stator with windings.

Figure 2.19 Motor mount and cup

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 Chapter 3 Electrical section

Chapter 3 Electric section

3.1 The wheels and Motors:

are each powered by a separate engine. Unitary motor/wheel assemblies are created
by connecting the driving shafts of the motors to the top portion of the stub axles of
the wheels using flexible couplings. These motor/wheel assemblies are all built
similarly, as is how they install on the current machine (explained below). By
changing the motors' revolutions per minute (RPM), the rate of angular rotation of the
wheels and, consequently, the speed or velocity with which the soccer ball is driven,
can be adjusted [24]. The motors should ideally be able to turn at 1,725 RPM, which
is enough to move a soccer ball of average size 30 to 50 yards at a speed of up to 90
mph. Additionally, because each wheel is powered by a separate motor, it is possible
to induce it to rotate with a variable angular velocity, which spins the ball and directs
it along a curved route. By blasting a soccer ball with a variety of speeds, distances,
and spins, the current soccer ball practice machine closely mimics game
circumstances.

wheels Motors

Figure 3.1 Wheel and motor

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 Chapter 3 Electrical section

3.2 Launcher wheel

One of the more critical pieces to our launcher is the design of our launch wheels,
which act as our main launching mechanism. The main purpose of the wheels is to
contain enough energy to be able to successfully launch the soccer balls at the
required speed. The Launcher machine can be controlled by the DC motor, and it has
the ability to increase and decrease the velocity. To increase the wheel's moment of
inertia while minimizing its overall weight, the majority of the mass is located on its
outside edges [23]. The finest protection for launching the soccer balls is
polyurethane, which we will adhere to the outside of the wheel in order to create a
surface that gives a better interface.

Figure 3.2 Force exerted on the wheel during the soccer ball launching.

Figure 3.3 Launcher wheel 3D view

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 Chapter 3 Electric section

As shown in fig 3.4, the 2D view of the launcher wheel, in the front view, I mentioned all the
dimensions of the dimeters of the wheel. In the top and right view, I focused on the dimension of the
length and width.

Figure 3.4 Launcher wheel 2D view

3.3 DC Motors:
An electric motor is an electrical machine that converts electrical covert into mechanical energy.
Most electric motors operate through interaction between motor magnetic field in a wire winding to
generate force in the form of torque applied to the motor. In this machine DC motors are regularly a
part of every other machine and hence they are highly used in industrial, automotive, and automation
applications are used. Permanent magnet DC motors provide the desired velocity. A DC gear motor
that can produce high torque at low speed is used to let the ball from the spine. This DC gear motor
controls the open-close lever. [18] The DC motors enabled the ball thrower wheels to move both
horizontally and vertically (Figure 3.5). One of the motors provides horizontal movements, the other
one provides vertical movements. The force exerted on each wheel is the summation of the
centripetal force and the force exerted by the deformed soccer ball:

F=F c + F b (3.1)
2
F=mw r w ω + k b + x b (3.2)

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 Chapter 3 Electrical section

Where F is the centripetal force, F b is the force exerted by the deformed soccer ball, mw is the mass
of the wheel, k b is the ball's stiffness and x b is the maximum deformation of the ball. The stiffness, k b
was taken as 36,833 N/m as reported by a previous study; the ball is assumed to undergo a 15%
maximum deformation. The maximum force exerted on each wheel.

Figure 3.5 DC motor

Figure 3.6 The schematic view of angle is scanned horizontally and vertically.

DC motors with permanent magnets are managed by a motor drive circuit. In order to measure
velocity, a digital screen that is compatible with this drive circuit was chosen. According to
amplitude modulation conversion, the motor's capacity is displayed on a digital screen as being
between 0 and 100 percent. Depending on the working capacity, a tachometer is used to measure the
motor's rpm. presents the measurement findings. Table 3.1

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 Chapter 3 Electric section

Table 3.1: DC motor Tachometer measurement Results

DC motor working Capacity DC motor Rotational Speed
[%] [rpm]
10% 175
20% 455
30% 745
40% 1020
50% 1280
60% 1543
70% 2015
80% 2120
90% 2365
100% 2814

3.4 Software and Control Group of the Throwing Machine

A Delta-Cpu-DVP-14SS2 PLC and DVP-08SN addition module and a Delta DOP-A series operator
panel with TFT LCD screen is used to control the ball throwing machine. For the software, the
control algorithm is generated with Ladder programming language via interface found in Delta SS2
PLC device. PLC is programmed with Delta WPLSoft software and Operator Panel is programmed
with DOPSoft software so that a user can activate and control the system. The communication
between PLC and devices is provided with MODBUS serial communication protocol. MODBUS
which uses serial communication standards is used with the RS232 serial communication interface.
With the help of the control board (Figure 3.7) coordinates to send the ball to, throwing frequency,
repeating number can be determined, and a training program can be saved and used.

Figure 3.7 System control board

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 Chapter 3 Electrical section

3.5 Wheel hub motor and its formula

An electric motor that is built into the hub of a wheel is called a wheel hub motor.
Since the motor powers the wheel directly, a separate transmission system is not
required [19]. Due to their effectiveness and small design, which makes the
movement of the wheels easier and smoother, wheel hub motors are frequently
employed in electric cars and robotics. Consider elements like torque, power, voltage,
and size when choosing a wheel hub motor for a soccer launcher device [20]. To
launch the soccer ball with the appropriate force, the motor must provide enough
torque. So, the voltage and the speed that used is 24 volts, and the speed is 400 RPM,
and the size of the wheel is 10 inches.

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 Chapter 3 Electrical section

Figure 3.8 Wheel hub motor

Here's how you can calculate the voltage and power:

Determine the Rated Power (P):
The rated power of the wheel hub motor is usually provided in the motor's
specifications or datasheet. It is typically given in watts (W) or kilowatts (kW).
Determine the Rated Current (I):
The rated current is the current drawn by the motor when operating at its rated power.
It is usually provided in amperes (A) in the motor's specifications.
Calculate the Voltage (V):
Here’s the following formula to calculate the voltage required by the wheel hub
motor:

V =P /I
(3.3)

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 Chapter 3 Electrical section

Where V is the voltage in volts (V), P is the rated power of the motor in watts (W), I
is the rated current of the motor in amperes (A). This formula assumes that the motor
operates at its rated power and draws its rated current.
Calculate the Power (P) based on Voltage and Current:
If you have the voltage and current values available, you can calculate the power
consumed by the wheel hub motor using the formula:
P=V ∗I (3.4)
Where P is the power in watts (W), V is the voltage in volts (V), I is the current in
amperes (A)
This formula calculates the power based on the voltage and current supplied to the
motor.

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 Chapter 4 Critical calculation

Chapter 4 Critical calculations

4.1 Wheel Launcher Calculations- Polyurethane

The velocity equation of uniform circular motion is used to calculate the ball's launch
velocity, as shown below:

v=ω r w Eq .(4.1)

where v is the ball's launch velocity, r w is the radius of the wheel and ω is the angular
velocity of the wheel.

4.2 Energy Calculations

to calculate kinetic energy of the wheel we used

1 2
K e r= I ⋅ ω Eq. (4 . 2)
2

Where:

K e r is Rotational Kinetic energy.

I is the moment of inertia

ω is the angular velocity.

2

Moment of inertial Found in solid edge. Moment kinetic energy initial

1 2 3
I =256.7 bm ⋅n
2
K e r= I ⋅ ω =2 ⋅618 ×10 J
2

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 Chapter 4 Critical calculation

4.3 Calculation a wheel Kinetic energy after shooting a ball.

To calculate wheel Kinetic energy after shooting a ball, we have to use:

1 3
K e w post=K e r− ∗k e b=2.373∗10 J Eq. (4.3)
2 ⋅e

Where:
1
K e b is Ball kinetic energy initial K e b= mb .¿ Eq. (4.4)
2

e is efficiency of energy transfer from wheel to ball.

Mass of a ball: mb=0.454 kg

4.4 Motor Calculation

P
Pr = =125.513 W Eq. (4.5)
em

Pr is electrical Power per motor.

P = Wattage needed to be applied to wheel at shaft

e m=¿ Motor Efficiency with high torque

P = 81.583 W e m=¿ 0.65

23
 Discussion and Result

Discussion and Result

Football launchers enable players to practice particular skills like shooting, passing,
and receiving without relying on another player by consistently and repetitively
delivering the ball. Players' accuracy, timing, and ball control are all aided by this.
This study uses a football throwing machine that is made to make it easier for football
players to train.
This device is designed to toss the ball at the desired distance, speed, and position. A
football player can train independently by loading three balls at once into the ball
holder that is attached to the machine. This study serves as an illustration of similar
motors used in industrial manufacturing for appropriate positioning needs.
Additionally, if needed, microcontrollers can be used to operate DC and servo motors
that are now controlled by a PLC. It is possible to compare the performances of the
two systems.

24
 Conclusion

Conclusion

The goal of the project was to create a soccer ball launcher that offered mobility and
versatile use on the soccer field. We conclude that the soccer ball machine plays an
important role in improving the skills and creativity of soccer players and goalkeepers
and enables them to improve themselves on the physical and skill levels. This makes
sure that players can repeat and carefully practice a variety of skills, including
shooting, passing, and receiving. Players can develop their decision-making and
adaptability on the field by practicing with realistic simulations of game
circumstances made possible by the machine's capacity to fire balls at various speeds
and trajectories. Furthermore, soccer launcher machines can be used by coaches to
create specific training drills and exercises, targeting specific aspects of the game.
Coaches can customize the machine's settings to replicate game-like situations,
helping players improve their decision-making, reaction time, and spatial awareness
on the field. The soccer launcher machines have revolutionized soccer training by
providing consistent and precise practice opportunities. They have become an integral
part of many training programs, enabling players to sharpen their skills, increase their
confidence, and ultimately enhance their performance on the field.

25
 Acknowledgement

Acknowledgement

I would like to express my deep and sincere gratitude to my supervisor, Dr.

Tang, for giving me the opportunity to do a thesis about a football launcher
machine and for offering vital guidance during this thesis. Her dynamism, vision,
genuineness, and motivation have deeply inspired me. It was a great privilege and
honor to work and study under her guidance. I am incredibly appreciative of what
she has provided for me. I want to thank her for her compassion and wonderful
sense of humor. My parents' love, prayers, care, and sacrifices in raising me and
preparing me for the future are all things for which I am incredibly grateful. I also
want to thank my sisters and brothers for their help and important prayers. My
sincere gratitude to my friend Dr. Alamin for his dedication to seeing my thesis
through to completion is especially appreciated.

26
 References

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