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System: Input data in BOLD, Results in RED
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Rear wheel
diameter, Drw (mm)
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Front wheel
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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Step height, h
(mm)
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Contact angle,
theta (deg, rad)
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Machine mass,
m (kg)
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Machine
weight, mg (N)
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Rear wheel
coefficient of friction, murw
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Front wheel
coefficient of friction, mufw
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Maximum total
drive torque applied to both rear wheels, grw (N-mm)
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Maximum total
drive torque applied to both front wheels, gfw (N-mm)
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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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Option 1: Nice
and easy slow drive over the step
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2
wheels contact
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1
wheel contact
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Normal force
between a rear wheel and the ground, FNr/2 (N)
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Minimum
required coefficient of friction, mumin2, mumin1
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Normal force
between a front wheel and the step FNf/2 (N)
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Total motor
tractive effort, gm (N)
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Total motor
limited tractive force from from both rear wheels, Frwmax (N)
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Total motor
limited tractive force from from both front wheels, Ffwmax (N)
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Total
friction limited tractive effort, gmu (N)
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Total
friction limited tractive force rear wheels before slip, Frwmumax (N)
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Total
friction limited tractive force rear wheels before slip, Ffwmumax (N)
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Total minimum
tractive effort required, gmin (N)
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Total
tractive effort required by both rear wheels, FTr (N)
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Total
tractive effort required by both front wheels, FTf (N)
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Step Climable?
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Can the
machine climb over the step?
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Option 2:?? Ramming
speed!
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Ideal forward
velocity required to get over the step, v (mm/s)
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D potential
energy on top of step, DPE (N-m)
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