| Mtmax |
maximum dimensioning torque |
| Mts |
static torque |
| Mtm |
drive torque |
| imax |
maximum transmission
ratio |
| ir |
distribution ratio |
| Mta |
adherence torque |
| P |
maximum weight on axle |
| rs |
wheel radius under static
load |
| µ |
friction coefficient |
| if |
final transmission ratio
at the wheel |
|
|
When choosing a joint, use th maximum torque value given by formula 1 (if static torque is greater then adherence torque) or by formula 2 (if adherence torque is at least twice the static torque).
In order to calculate static and adherence torque, use formulas 3 and 4, respectively. |
