Newsgroups: comp.robotics
Path: brunix!sgiblab!spool.mu.edu!umn.edu!msc.edu!apctrc!hawkings!natos114!zjoc01
From: zjoc01@hou.amoco.com (Jack Coats)
Subject: Re: 300 lb robot on 10 degree grade?
Message-ID: <1993Oct15.130758.20732@amoco.com>
Sender: news@amoco.com
Reply-To: zjoc01@hou.amoco.com
Organization: Amoco
References: <29kj26$12i@skates.gsfc.nasa.gov>
Date: Fri, 15 Oct 1993 13:07:58 CDT
Lines: 25

In article <amccor.44.2CBC71E0@dres.dnd.ca> amccor@dres.dnd.ca (Alan McCormac) writes:
>>>In article <29fles$7kn@skates.gsfc.nasa.gov> nstn@quercus.gsfc.nasa.gov 
>>>(Nathan Stratton) asks:
>>>>
   [ stuff deleted ... ]
>>>
>>>Torque is the product of force and the perpendicular distance at which it is 
>>>applied:
>>>               T = F x R
>>>
>>>F is a function of vehicle weight W and grade angle A, and motion resistance 
>>>MR is a percentage of W.  So if your wheel has an 8 inch radius, and the 
>>>terrain is firm soil:
>>>
>>>               T = W [ (sin A * R) + MR ]
>>>               T = 300 lb * (16 oz/lb) * [ (sin(10) * (8 in)) + (0.10) ]     
Where can we get various valuse for MR, or how can we easily do our own test
for what it is for our conditions?  (Mowing through 4" high St.Augistine
grass is much tougher than rolling over flat cement).



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