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Re: Minibot climb rate
Given:
0.5 inch diameter wheel
0.09 Nm stall torque
0.4 coefficient of friction between pole and wheel (estimated, YMMV)
Find: required normal force to prevent slipping
Solution:
1) calculate the motive force at the wheel/pole interface produced by stall torque:
(0.09 Nm)/[(0.5/2 inches)*(0.0254 meters/inch)] = 14.17 Newtons = 3.19 lbs
2) divide the motive force by the coefficient of friction:
(3.19 lbs)/(0.4) = 8 pounds normal force required for no wheel slip
Edit:
To be clear, the above calculation is for the normal force on ONE wheel (shaft) powered by ONE motor.
If the wheel (shaft) is powered by two motors, then the number would double.
Last edited by Ether : 14-04-2011 at 17:01.
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