Quote:
Originally Posted by DonRotolo
OK, maybe this will help:
If each wheel gets 20 ft-lbs of torque, and the wheel is 6" in diameter, the force acting on the carpet* is 20 / 0.25 = 80 Lbf. (20 is the torque in ft-lbs, 0.25 is the radius of the wheel in ft, and Lbf is "pounds force" (different from pounds weight)).
*Theoretically. Remove maybe 5% for losses (as suggested above), you get 76 Lbf.
Four wheels, 76 * 4 = 304 pounds of force.
Assumes you don't break traction with the carpet.
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Be aware that if you are powering 2 wheels with 1 motor, each wheel gets half the torque. Similarly, if you are powering 3 wheels with 2 motors, each wheel gets 1/3 the torque produced by adding the torques of the 2 motors together (and factoring that torque up by the gear ratio, of course). That's why I worded my post in terms of drive motors instead of wheels.