Quote:
Originally Posted by Ether
In the case of 45 degree rollers, the 40 in-lbf of "forward" torque applied to each wheel creates a forward force on each wheel of 10 pounds (due to the reaction force of the carpet) AND a sideways force of 10 pounds (also due to the reaction force of the carpet). These two vectors add (via vector addition) to a force along the axis of the roller of 10*sqrt(2). THAT is how the vector forces work.
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Where does the extra 40% force come from?
It seems from your explanation that you might be able to put a carpet-treaded wheel underneath the mecanum wheel at a 45 degree angle and get greater torque at its axle than you put into the original mecanum wheel. Then use that torque to drive another mecanum wheel driving another carpet wheel and keep multiplying forces ad infinitum. It's apparent that something is wrong with your model.