Longitudinal: m·a = Fdrive − Fbrake − Fdrag − mg·sin(θ)
Grip: √(Fx² + Fy²) ≤ μ·N (friction-circle approximation).
Braking: d = v² / (2μg) on level ground with constant friction.
Stability: φtip ≈ atan((track/2) / hCOM). Live margin adds acceleration, attitude and load offset.
Suspension: m·ẍ + c·ẋ + k·x = F; natural period T = 2π√(m/k).
Inertia: yaw inertia is approximated from a rectangular chassis footprint, Izz ≈ m(L² + W²)/12, and used in the steering moment update.
Assumptions: 1/120 s fixed integration; lumped load; simplified planar chassis, kinematic wheel spin, approximate springs and hydraulic rates. This is a learning model, not a safety system.
ASSETS · replaceable GLB slots
| Part | GLB URL |
|---|
| Forklift body | |
| Cab / guard | |
| Wheels | |
| Pallet crates | |