Quote:
Originally Posted by JesseK
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.
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The original 2004 version of my calculator had some acceleration modeling features (using a simple non-calculus based approach):
http://www.chiefdelphi.com/media/papers/1469
I determined when I did the re-release that most users wouldn't need these features, and they would just confuse the majority of users.
If you're interested in playing around with them, check out the old paper I linked above.
Honestly, I don't use them anymore. They were really great when I was starting out playing with drivetrain calculations and they REALLY helped me gain an understanding of the physical concepts at work here. Now I just tend to use my experiential bench-marks. This is a total cop-out, but it is pretty effective for MOST games. Last year (Overdrive), I ended up doing a whole bunch of calculations, but that game is more drive-intensive than most are.
There is a lot to be learned by "digging deeper" into these concepts and models. Once you get a good understanding of how a FIRST drivetrain can be modeled as a system, it will then be intuitive to you to begin removing layers of complexity to find a simpler model which is more practical for everyday use. You will also be a MUCH better designer because of the work you've done.
Take the time, it is tough, but it can be a lot of fun if you dig that sort of thing (I do!) and the payoff is TOTALLY worth it!
-John