| Symbol |
Description |
Units |
| JDM |
Inertia of drive mechanism |
kg-m2 |
| TDM |
Torque of drive mechanism |
Nm |
| aDM
|
Rotational acceleration |
rad/s2 |
| h
|
Efficiency of drive mechanism |
1 |
| q
|
Incline angle above horizontal |
o
|
| g |
Acceleration due to gravity = 9.81 |
m/s2 |
| FCB |
Counterbalance force at load |
N |
| FThrust |
Thrust force at load |
N |
| mLoad |
Mass of load + payload |
kg |
| mCB |
Mass of counterbalance |
kg |
| mC |
Mass of cart |
kg |
| mW |
Mass of one wheel |
kg |
| JW |
Inertia of one wheel |
kg-m2 |
| nW |
Number of wheels |
|
| nDW |
Number of driven wheels |
|
| fDW |
Factor of total mass over driven wheels |
1 |
| rW |
Radius of wheel |
m |
| rA |
Radius of axle |
m |
| Fm |
Force due to bearing friction, rolling friction and
lever arm friction
|
N |
| FTr |
Applied traction force
(a clamped force, for example in rail systems)
|
N |
| FSpN |
Spring normal force
|
N |
| FNS |
Wheel no slip force
|
N |
| fR |
Lever arm of the rolling friction |
m |
| c |
Rim and wheel flange friction coefficient
|
|
| mB
|
Bearing friction coefficient
|
|
| mW
|
Wheel-to-surface friction coefficient |
|
