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- Designing a motorized chair for indoor purposes, how to calculate the expected friction while rotating?

Say I have a motor connected to a wheel, the wheel is driven forward.

The motor produces a certain torque rotate/turn the wheel right or left, how do I calculate the torque needed to rotate? keep in mind the friction between the surfaces, the mass of the wheel and the tire sag/subsidence due to it's weight.

(no slip situation)

The motor produces a certain torque rotate/turn the wheel right or left, how do I calculate the torque needed to rotate? keep in mind the friction between the surfaces, the mass of the wheel and the tire sag/subsidence due to it's weight.

(no slip situation)

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