pic: Plywood 8WD Concept

[Deke]

I would like to crunch some numbers here to see what kind of loading the cim pinions usually take, i have not looked at the numbers before to see where they stand. It seems to me that the simple and conservative way to approach this is to use the stall torque at a steady state, but there are some dynamics involved here. Now a question would be how much of an impact do the system dynamics play into the tooth loading? When the motors reverse is there a ramp or instant loading? Do the wheels slip? I think if those parameters can be modeled, an accurate calculation can be made regarding the loading.

Does that logic make sense or am I missing something?