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#26
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haha.
It is clear that you guys are either uninformed on the subject of friction or confused.
You have to specify whether you are talking about static friction or kinetic friction. In static friction, coefficients over 1 are easily possible. Static friction in meaning means still, unmoving, not slipping. In kinetic friction, moving friction, a coefficient over 1 is practically impossible. Both static and kinetic friction is applied in the case of robots, but you have to make sure you are using the right one. Traction, also called adhesive friction is the same thing. The most dependant variable in traction (lets use this word because it puts more of a gripping image in ones mind) is the maximum static friction. To determine max static friction between two surfaces, one must multiply the static coefficient of friction between the surfaces by the normal force (also the weight). The result of this is the maximum forward force that a robot can apply on a vertical surface (another robot or wall) before the wheels start slipping. When the wheels slip this changes traction from static friction to kinetic friction and greatly lowers the amount of force that a robot can apply to actually push forward. Its a little hard to explain in words. Wish I knew the coefficient of the wire mesh and hdpe. But you can determine that through testing (determining torque off wheels through motor and gearing/Fn). Havent done that yet. Steve |
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