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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  

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