Quote:
Originally Posted by Matt H.
Why did you choose to use six motors in your drive train?
4 CIMs at a 7.4:1 ratio gives a maximum of 634 in-lbs of torque at the wheels. With 4 inch wheels, that becomes ~315 lbs of force to accelerate the robot. However, with a generous coefficient of friction of 1.5 your robot will spin its wheels at 180 lbs of accelerating force.
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We're assuming about 1.3 for traction.
Essentially, pushing power. 4 CIMs geared at 12 FPS draws a LOT of current. 4 CIMs and 2 BB isn't quite traction limited (60some amps last time I checked) but at least we won't stall out pushing mecanum bots and kitbots around a bit, and we'll have great acceleration.