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Here's my calculations of turning the wheels..,
Cof Friction 1.0
Distance from point of rotation to edge of wheel .25 ft
Weight of robot 160 lbs
Weight on each of the 8 wheels = 20 lbs
Cof F*w*d= 1.0*20*.25=5 ftlbs
Since there are 2 wheels on each axle 10 ft lbs to rotate.
Does this seem right?
Also since the wheels can't rotate as they pivot there would be some torque to back drive the CIM also.
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