Now many AGV designers have certain doubts about the selection of AGV traction motors. The following will explain the troubles of AGV designers for the selection of traction motors through a description and calculation. I hope that everyone can discuss, leave a message or express your opinion:

## 1) Considering safety factors: Generally, our AGV runs at 1M/S;

The coefficient of friction between the polyurethane wheel and the ground is not a constant value. In general,

## 2) The rolling friction coefficient with cement floor is 0.03~0.07, the rolling friction coefficient with epoxy floor paint is 0.02~0.04, and the rolling friction coefficient with steel plate laying surface is 0.01~0.03, and the friction coefficient with asphalt pavement is 0.05~0.09;

Assuming that the material of the wheel being towed is also the same polyurethane wheel, then we can easily get the following conclusion according to the formula (take the rolling friction coefficient is 0.04~0.05)

P*η=F*V...............①

F=Mg*μ................②

Where η=0.955, V=1M/S, g=9.8, μ=0.05 is substituted into ①②;

Get: 2P=M

That is to say, if the total weight of the carrying or pulling is 1000Kg (1T), only one traction motor with a power of 500W is needed, only two traction motors with a power of 250W are needed, and only four traction motors with a traction power of 125W are needed. And so on;

If the total weight of traction and towing is 10000Kg (10T), only one traction motor with a traction power of 5KW is needed, only two traction motors of 2.5KW are needed, only four traction motors of 1.25KW are needed, and so on.

Conversely, if we know the power and quantity of the traction motor, then we know the total weight that it can pull and carry.

For example, if I have a 500W traction motor, then the total weight that can be towed and carried is 1000Kg (1T);

If I have 2 500W traction motors, then the total weight that can be towed and carried is 2000Kg (2T);

If I have 4 traction motors of 500W, then the total weight that can be towed and carried is 4000Kg (4T);