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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Yeah I get THAT part.
I only know the torque of the CIM at stall.... and it wouldn't be moving at stall would it? So I have to calculate the torque based on kT (happens to be 3 oz-in/A) which is dependent on amp draw. hmmm... I could figure that out using the JVN calculator
