Tractive force and grip
F_drive = min(T(ω) · gear / r, P / max(v, v₀))F_x² + F_y² ≤ (μN)²Longitudinal and lateral tyre forces share one Coulomb friction budget. Rain reduces μ to 0.58× baseline.
Suspension and body response
mₛ ÿ + c ẏ + k(y − y₀) = 0Tₙ = 2π √(mₛ / k)A lumped spring-damper approximates chassis heave; pitch and roll are secondary damped states.
Static tip estimate
θ_tip = atan(b / h_COM)COM = Σ(mᵢ rᵢ) / ΣmᵢUses half the support width b = 0.58 m and estimated load-dependent COM height. Dynamic load transfer is approximate.
Braking and slope
d_brake ≈ v² / (2 μ g)a_grade = g(sin θ − μ cos θ)The displayed analytic braking curve assumes a flat plane and constant friction. The live vehicle includes drag, rolling resistance and grade force.
ASSETS · GLB REPLACEMENT MAP
| Asset | Part group | GLB URL |
|---|
| Chassis shell | chassis | "" |
| Wheel set | wheel_fl…wheel_rr | "" |
| Mast assembly | mast_outer / mast_inner | "" |
| Fork carriage | carriage / fork_left / fork_right | "" |
| Payload crate | load_crate | "" |
| Yard props | environment | "" |
Assumptions
Fixed-step integration at 120 Hz. SI units internally. One rigid planar chassis, idealised rear steering, approximate hydraulic actuators, no deformable tyres, and no certified stability envelope. Educational use only; not an operator-training or load-chart tool.