Applying the JVN calculator using multiple motors and Mecanum

[pntbll1313]

I'm trying to apply the JVN calculator on an 8" mecanum wheel using both a CIM and mini CIM at each wheel and I have a few questions.

1) Can you just add the stall currents together for the CIM and mini CIM and use that number as if it were 1 motor or will that not work?

2) It says that Max Tractive force is 100.3lbs which would be weight*CoF*carpet efficiency=154*.7*.93 = 100.3lb. Does this mean any more pushing force than this will be lost to slipping? (I think the answer is yes but then that leads me to question 3)

3) We had looked at direct driving the 8" wheels using the Toughbox Nanotubes with two 50 to 14 gear reductions. Is the equation for max pushing force = (CIM stall torque) * (# of CIMS) * (gear ratio 1) * (gear ratio 2) * (gear train efficiency) * (coefficient of friction) * (carpet efficiency) / (wheel size)? If so just using 1 CIM on each would yield
(21.5 in*lbs) * (4) * (50/14) * (50/14) * (0.9) * (0.7) * (0.93) / (4 in) = 160 lbs which is more than our Max Tractive force. That leads me to believe we should be gearing it higher if using 1 CIM, and gearing it much higher if we planned on using a CIM and Mini CIM together.


I'm not positive I've got all the numbers right so if someone could double check that or tell me I'm completely wrong (either way is fine) that would be a lot of help. Thanks