Quote:
Originally Posted by vamfun
... it seems that you want the Normal force to be about 2x the weight. Any extra normal force will only hurt due to the extra drag.
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Also, the stall torque is approximately 2X the peak power torque for the electric motors. Because of this, you want at around 2x the traction to insure minimal wheel slip (assuming you designed around peak power).
We had a design that had too much friction, and it would do a bizarre "powerhop" maneuver. It is actually pretty neat to see a little 20W robot powerhopping on the pole.
We have since gone in a different design direction (well, we have gone in several directions since then, but who is counting).