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Unread 09-12-2013, 17:37
Oblarg Oblarg is offline
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Re: Omni vs Mecanum CoF ?

Quote:
Originally Posted by AlecS View Post
I think you may need to take a look at your derivation there, it's difficult to see where you're going.
Equate force required to stall your wheel to maximum friction force on wheel.

Equate ratio of free speed of CIM to free speed of wheel to the ratio between the stall torque of the motor and the stall-torque of the wheel.

Relate stall-torque of wheel to force needed to stall the wheel.

Plug in and solve for free speed of the wheel.

The factor of 2*pi comes from the fact that we are specifying a linear velocity, not a rotational one.
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Last edited by Oblarg : 09-12-2013 at 17:39.