Drive Train Speed

[Ether]

I just posted this:

Drivetrain Acceleration Model with C source code. Drivetrain and rolling resistance losses modeled with 3 adjustable parameters. Numerical integration with Heun's Method for speed and accuracy. Creates CSV output file which can be directly imported into Excel for graphing.

The 3 adjustable parameters for losses account for torque-dependent drivetrain friction (drivetrain efficiency fraction) and speed-dependent rolling resistance (carpet compression loss etc).

http://www.chiefdelphi.com/media/papers/2868

Please report any errors.

[nuttle]

This does a great job of answering the original question, thanks for doing this!

If people have data from real robots and can fit the plot to match this data by adjusting the constants, it would be very good to share the values for different robots -- this would allow the gear ratio(s) to be engineered so a robot will perform as desired, using values that at least were realistic for another machine. It also provides another way to compare drivetrains.