Quote:
Originally Posted by Ether
Are each of the 4 wheels independently driven or are the front and rear wheels on each side chained (or belted) together?
It makes a difference in the analysis of turning forces.
If the wheels are independently driven with equal torque, a simple model with an analytical solution is possible.
If the wheels are chained, it can be solved using nonlinear constrained optimization. This can be done in Excel or a CAS such as Maxima, Octave, SciLab, Matlab, etc...
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Due to changes made by the web host, many of the links in the above post are now broken.
So I collected everything together in one place and posted it
here.