Is this Equation Correct

[Caleb Sykes]

Originally Posted by Mad Cows

So I have been trying to work out an equation for the maximum weight a robot can hold. Does this look right?
https://drive.google.com/file/d/0B8z...ew?usp=sharing

T is torque of one motor, Mn is number of motors on one side, Wn is number of wheels on one side, Wr is wheel radius, Fs is static friction, rps is revolutions per second, m is mass.

The robot is a tank drive, with chains linking all wheels on each side to the motors.

Your units do not work, which should is an easy sign that something is wrong. You have torque*distance/force/time = distance^2/time on the left side, and mass^2 on the right side.

Additionally, I'm having trouble understanding what you are trying to solve for in this equation. Is it the maximum mass that the robot can have before the wheels can't spin because they stall?

[Katie_UPS]

A quick search (admittedly, by searching Ether's posts) found me this white-paper, which might be useful:
http://www.chiefdelphi.com/forums/sh...d.php?t=119442

While searching is not as glamorous, I'm certain you could find a lot of good resources related to this topic.