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System: input data in BOLD, Result in RED
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Values
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Rear wheels' diameter, Drw (mm)
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Front wheels' diameter, Dfw (mm)
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Distance between wheels, Lw (mm)
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Distance center of front wheel to center of gravity, Lcg (mm)
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Height of center of mass about plane, hmg (mm)
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Slope angle, theta (deg, rad)
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Machine mass, m (kg)
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Machine weight, mg (N)
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Maximum drive torque applied to both rear wheels, grw (N-mm)
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Maximum drive torque applied to both front wheels, gfw (N-mm)
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Coefficient of friction, mu
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for FWD gf = 1 and gr = 0, for RWD gf = 0 and gr = 1, and for AWD gf = 1 and gr = 1
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Enter 1 for rear wheel drive or AWD, gr
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Enter 1 for front wheel drive or AWD, gf
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Nice and easy slow drive up the ramp (no
acceleration)
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Normal force between both rear wheels and ground, FNr (N)
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Normal force between both front wheels and step FNf (N)
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Maximum rear wheel tractive force from drive torque, Frwmax (N)
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Maximum rear wheel force from drive torque, Ffwmax (N)
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Maximum rear wheel tractive force before slip, Frwmumax (N)
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Maximum front wheel tractive force before slip, Ffwmumax (N)
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Total tractive force generated by both rear wheels, FTr (N)
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Total tractive effort required by both front wheels, FTf (N)
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Total tractive effort of the machine, FTm (N)
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Force from gravity acting along the incline, Fg (N)
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Can the machine climb up the ramp?
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Tip-over angle (deg, rad)
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Required minimum friction coefficients:
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Front wheel drive only required coefficient of friction
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Rear wheel drive only required coefficient of friction
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All wheel drive required coefficient of friction
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ST
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CT
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