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Im trying to build an electric wheelchair with mecanum wheels, and as you might know, each of its 4 wheels has to be independently powered for the chair to have holonomic motion.

With my desired speed to be around (brisk) walking speed only, say 1.15 m/s, and my mecanum wheels sized with a 4-inch radius, I know that I'm going to need a very low RPM (by my computations, ~110 rpm).

However, my computed power draw per wheel is around 300W, which is way large, that Im not sure if Im on the right track? My load capacity is somewhere around 136 kg, btw.

This brings me to my question: are my torque/rpm/power calculations correct??

per wheel:

r = wheel radius = 4 inches = 0.1016 m

circumference = 2pi(r) = 0.638 m

v = (max) running velocity = 1.25m/s

rpm = v(60/circumference) = 117.48 rpm

the chair:

u = coefficient of friction = ~0.7

N = normal force = mg

m = total mass (136 kg)

g = 9.81 m/(s^2)

vi = 0 (rest)

t = time to accelerate, say 2 s

a = acceleration = (v-vi)/t = 1.25/2 = 0.625 m/(s^2)

Finally:

Ftotal = uN + ma = m*(uN+a)

Fwheel = Ftotal/4 = 255. 248 N

Twheel = (Fwheel)(r) = 25.93 Nm

Pwheel = (Twheel)(rpm)(2pi/60) = 319 W

Is the power really supposed to be this large and my RPM that low???

Help/corrections would be very much appreciated!!