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

[RyanCahoon]

Originally Posted by GeeTwo

There is also the weight of the module

Agreed; I've been concerned with the idealized analysis of the system - massless and frictionless (except for the wheel/ground interaction) - so I've been ignoring the weight forces.

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.