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Minimum force required for a wheel to step over an obstacle

작성자 Uploader : alice 작성일 Upload Date: 2018-09-28변경일 Update Date: 2018-09-29조회수 View : 539

For a wheel of radius R having its axle load W shown in figure, the minimum force required for the wheel to step over
an obstacle of height h is calculated as below.

With respect to the point A which is the contact between the wheel and obstacle, if the moment by the axle load is equal to the moment by the acting force P, it is in equilibrium. Thus, the moment by P needs to be larger than that by W.

Moment by W : MW = W * ( R^2 - ( R - h )^2 )^(1/2)
Moment by P : MP = P * ( R - h )

Combining the above, the required minimum force P is :

P = W * ( 2*R*h - h^2 )^(1/2) / ( R - h )

*** 참고문헌[References] ***
P = W * ( 2*R*h - h^2 )^(1/2) / ( R - h )
작성자의 수식그림이 없습니다. No picture for this formula
변수명 Variable 변수값 Value 변 수 설 명 Description of the variable


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