paper: Analysis of “a torque-actuated module” used for strafing in an H-drive.

[GeeTwo]

Originally Posted by RyanCahoon

A full analysis of this system would also incorporate the weight of the robot. This would have place an upper bound on the normal force produced, and thus inform the choice of final gear ratio.

Also agreed. This analysis would be fairly typical for FRC, though focused on acceleration much more than top speed. If the robot were anticipated to be strafing at anything close to top speed, a less isotropic holonomic drive (mecanum, kiwi, or killough) or a crab or swerve drive would be in order.