Understanding WCP Drive Train Calculator

[Oblarg]

Originally Posted by Chris is me

If it's case 2, it doesn't matter, you're not pushing them even if your wheels didn't slip.

If your robot can move the load reasonably well (and low gear isn't unreasonably low), then no, the wheels aren't slipping - the load is moving instead. Except for the edge case where you are just barely able to move the load you are trying to push, the wheels apply force, and the robot+load start to move before the wheel slips. The motor isn't stalling anymore, it's moving, the torque is being "used up" to make the robot move.

That's not how it works. If the torque output is high enough to break static friction, the robot moves *and* the wheels slip. Your effective acceleration will be limited by the dynamic COF of the wheel. This is the same reason we have antilock braking systems in cars.

You can get a robot and test this, if you like.