A robot has a rectangular prism for a body. The body is 10cm high, 2cm wide, 2cm long, has a mass of 1kg and it’s mass is uniformly distributed. An axle bisects the bottom face of the body. On each side of the body is a wheel that rotates on the axle. The wheels have a radius of 1cm and have no mass. The body is rotated Pi/12 radians forward, (on the same axis as the axle). What torque needs to be applied at the axle to maintain the body’s orientation?(adsbygoogle = window.adsbygoogle || []).push({});

If the wheels are glued the ground I think the answer is…

Sin[Pi/12].1Kg.5cm

Or about 1.3Kg.cm

But if the wheels can spin, does that change the answer? (Assume that it's already moving as fast as needs to; there won't be any acceleration)

I'm actually building a similar robot and would like work out all the dynamics, but for the moment I'm ignoring as much as possible (fricition, inertia, etc...)

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# Robot Question

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