# Society of Robots - Robot Forum

## Mechanics and Construction => Mechanics and Construction => Topic started by: crazyengineer on March 12, 2013, 08:09:09 PM

Title: Torque Calculations Verfications
Post by: crazyengineer on March 12, 2013, 08:09:09 PM
Okay, so I'm deriving the relationship between torque and the mass. I just want to verify my derivation is correct. I'm creating a wheeled robot which it has two wheels each connected to its own motor and a ball caster at the end of the bot. The robot is traveling on a perfectly flat surface

Friction_force=kinetic_friction_ coefficient*normal force

Assuming a 2D plane, the normal force is equal to the weight of the robot

Friction_force=kinetic_friction_ coefficient*mass*gravity

So the summation of forces is equal to mass*acceleration. Since the friction force is opposing the force generated from the motor, and the two motors' torque will add together, I can make this assumption

mass*acceleration=2*Force-Friction_force

After some algebra, I was able to determine the following