What r possible drive systems under these circumstances?

[Cartwright]

Originally Posted by quixeger

Assuming that all wheels are driven, a robot's MAX acceleration is the coefficient of stiction (mu) times g (a=mu*g). If the robot isn't AWD, then weight distribution becomes an issue. The equation mentions nothing about a robot's mass or the wheels' contact patches. Those two become important in pushing matches.

However, It is important to point out the specific case of multi-wheeled robots or robots with multiple contact patches between the wheel and the surface. This is what this engineering book I have says: If the normal force is increased, per given area of contact patch, the COF decreases. As the normal force decreases, the COF increases. If this were not true, then lowering tire air pressure in cars or installing wider tires, which both increase the area of the contact patch, would have little effect on traction.

The traction force is equal to the acceleration times the mass. Therefore, wouldn't the wheel's contact patches matter?