Drivetrain
Calculator 6
Who wins a pushing match
Example inputs; the calculator updates these with yours. Imperial first, metric in parentheses.
Example inputs from the calculator defaults. Losses ignored.
What the drivetrain looks like
Four swerve modules, each with a Kraken X60.
Schematic, not to scale.
Past about 67 A, more current doesn't push harder
Failure line appears once the allowable is verified.
Weakest link: main breaker. Above the 120 A main breaker (200%) for a 5 s push. Breakers trip on time, so a long push can trip it.
Show all numbers
How this works
The carpet sets the limit. Wheel grip is robot weight times tread friction. A well-geared drive slips before the motors reach their current limit.
The weakest link isn't always a part. Sometimes it is physics outside the robot.
Push test against a scale or another robot, and compare it to both predictions.
Motors hit the current limit first: you're leaving 15 lbf of traction unused.
Estimates for learning. Losses are ignored. Verify the numbers before relying on them.