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Re: how do u figure out the torque req'd to move a robot?
In some cases, where pushing power is vastly more important to you than speed, you can gear for as much torque as it would take to cause the wheels to barely slip in the most extreme condition of pushing (as if the robot were driving up against a wall). You can even gear for more than that if your robot does something clever like lifts up another robot or a goal (when allowed) for more down force. If you are going to gear your robot using this approach, be prepared to use lots of powerful motors if you want any appreciable speed.
I agree with Andy, Chris Hibner and others have written some extremely useful whitepapers about this.
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