about the torque calculation of a mecanum wheel

[GeeTwo]

Originally Posted by GeeTwo

While Matsinos does decompose the "driving force" F_i into F_i,p and F_i,t improperly because he assumes that it is transverse to the wheel axis (it is not), this error is inconsequential, as when he performs experiments, he does not control torque or force, but angular speed.

Originally Posted by Ether

His error is fundamental.

While I agree that it is a fundamental error, it is inconsequential (I should have specified that I mean this within the scope of the paper) because neither the original F_i, nor any other variables dependent on it, are ever measured or controlled. Had the controlled parameter been current to the motor (which is directly related to the output torque), the experiment would have revealed it through the calculation of an unrealistic gearbox efficiency (or other similar parameter) to offset the error.

The difference would also have been of consequence if the vehicle were run at speeds/torques which cause significant slip of the rollers against the floor, but for which the erroneous calculations would have predicted good traction.