Quote:
Originally Posted by dmcguire3006
Maximum force due to wheel friction f = umg (u = coef of friction)
Max force for 1 wheel = umg/4
Max torque T = Fr = umgr/4
For u = 0.05
mg = (50kg)(9.8m/s^2)= 500N
r = 0.05m
T = 1.25 N-m
Much less than the CIM can supply...
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The coefficient used is improper. When wheels are rotating without sliding, use the coefficient of static friction to find the maximum friction between the wheel's outer edge and the point of contact. When the force pushing the wheel would make the friction required to roll higher than this theoretical maximum, the wheel slides.
It doesn't make much of a difference, though, in this example, and may have even been a typo. The coefficient used was .05, and the proper one per bhsrobotics1761 is .06.
The number is closer to .37, by my calculations, which is somehow much smaller and even less than dmcguire's number. I found the torque, by his numbers, to be .31 N-m.
In the end, your answer is "a very small number."
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