WIP for calculating the required torque, and modelling the 6-wheeled rocker bogie system.
| Variable | Known (assumed) /Unknown | Symbol | Value | Unit | Notes |
|---|---|---|---|---|---|
| Gross Weight | Known | Wg | Kg | ||
| Wheel Diameters | Known | D | m | Assumed all wheel diameters are the same | |
| Rolling Resistance Coefficient | Known | c | unitless | Assumed rubber tire on concrete | |
| Time to accelerate | Known | t | s | Assuming linear acceleration, how long do we want it to take to accelerate? | |
| Maximum speed | Known | Vmax | m/s | At the end of acceleration, how fast do we want our robot to be moving? | |
| Slope Angle | Known | θ | degrees (or radians) | Angle of the slope that the robot is currently on |
Calculating Force to Accelerate
Faccel = Wg * Vmax / ta
Calculating Force due to Slope
Fslope = Wg*sinθ
Calculating Force due to Rolling Resistance
Froll = cWg
Total Tractive Force Required
Ftract = Faccel + Fslope + Froll
