# Differential-drive robot sizing
# Scope: Level differential-drive force, torque and motor power; no slip.
# Status: illustrative worked example; engineering review pending.
# Inputs are example values. Checks are editable example requirements, not standards.

mass = 20 kg
acceleration = 0.5 m/s^2
rolling = 0.02
radius = 0.1 m
speed = 1 m/s
gravity = 9.81 m/s^2

force := mass*(acceleration+rolling*gravity) [N]
perWheel := force*radius/2 [N*m]
power := force*speed [W]

check wheel torque budget: perWheel <= 2 N*m

scenario alternative: mass = 16 kg