Quote:
Originally Posted by Hachiban VIII
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We’ve never quite been able to comprehend the connections between torque, acceleration, and current draw.
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Seems easy enough -- f = m * a --> a = f / m
Convert the torque (moment force) output of the wheels into a linear force in the same coordinate system as "foward" for your robot and voila! It doesn't seem to be of much use to have the actual number if you're deciding on 2 CIMs vs 4 CIMs. Yet if you're into more exotic gearbox setups (a la 118, Robonauts) then it could be useful to see what motors aren't worth their weight for their contribution.
From there it's a simple use of the 3 kinematic equations to find anything else you want (disregarding energy losses, but you could account for that in the JVN calc). This part really is easy.