Friction-wheels
Friction-wheels. The surfaces of these wheels are made rough, so as to bite as much as possible; one is sometimes faced with leather, or, better, with vulcanized india-rubber.
Only the input is driven; every other part of this model moves by physics (MuJoCo), and its ratios are measured. Run it live, change its parameters, or switch the friction off to see the output stop.
- Modelled as
- two plain wheels rim on rim (r 6 driving r 8, india-rubber faced, friction 0.8), the driven wheel's bearing on a slide pressed towards the driver by a 20 N spring; new pulley `touch` lets two rims take contact
- Measured
- ω2/ω1 = -0.7500 (-6/8), against a 0.2 N·m bearing load; penetration 0.000 mm
- Notes
- Only the left wheel is motor-driven (30 rpm). Negative controls: rims frictionless → driven wheel still (0.0000); spring's press removed → still (0.0000). Drawn spoked (the plate's are plain discs) so the turning shows.
Film (MP4) · GIF · Still (PNG) · Spec (YAML) · Model (MJCF)
