The trolley's two ground supports consist of a wheel at one end and a person who lifts the other end of the trolley. Wh en a load is placed near th e person he must bear aPerfect part of the load, while the wheel bears a lighter part. By moving the load nearer to the
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Therefore our equation for the minimum amount of torque the motor must transfer to the ground before the wheel begins to roll (thus causing the robot to move) would be: Tm,min = Fa * Rv = Fa * (Rw – Ra) In summation, Tm, min ≤ Tm ≤ Tm, max or alternatively,
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