MY SIMULATOR / Forklift Dynamics Lab

FIELD OPERATIONS / YARD 04

Pallet transfer sequence

CLEAR · DRYPAYLOAD 900 KG

SYSTEM MESSAGE

0.0 km/h

W/S DRIVEA/D STEERQ/E FORKSF TRANSFERSPACE BRAKE

TARGET 01 / DISPATCH BAY

Ground speed

0.0km/h

850 rpm

Motor output

0.0kW

0.000 kWh used

Body tilt / limit

0.0°

Tip threshold 30.9°

Fork / payload

0.16m

900 kg · secured

01 / ACTIVE CONTRACT00:00

01 — Dispatch bay

Carry the pallet to the blue transfer pad. Stop, lower the forks and press TRANSFER.

0 / 3 deliveriesSTAGE 1 OF 3

STAR TARGETS: ★★★ < 105 s · ★★ < 155 s · ★ complete

02 / DRIVE CALIBRATIONLIVE PARAMS

Chassis mass 3,900

kg · counterweight included

Tyre friction μ 0.62

dimensionless grip coefficient

Spring rate k 220

kN/m · each corner

Damping c 18

kN·s/m · each corner

Motor power 18

kW · peak rating

Payload mass 900

kg · pallet and crates

Ground slope 6°

degrees · uphill in +Z

Load offset 0.12

metres · lateral CG shift

W / ↑ forwardS / ↓ reverseA D steerQ / E fork down / upF transfer

03 / POWER STRATEGYDECISION POINT

ECO · Smooth torque mapLower peak draw; gentler starts preserve grip.

BOOST estimate: +18% speed potential · +22% energy per route.

04 / TELEMETRYLIVE vs THEORY

SPEED TRACESTOP 0.00 m

Dashed = traction-limited speed ceiling

TILT MARGIN30.9° reserve

Limit = atan(half-track / CG height)

THE SCIENCE / MODEL NOTES

Longitudinal motion — m·a = Fdrive − Fgrade − Froll − Fdrag. Grade force is mg·sin(θ); tyre traction is capped by μN. A friction-circle remainder limits lateral cornering force.

Motor — a speed-shaped torque curve is multiplied by a fixed reduction ratio. Electrical output is bounded by the selected kW rating; energy integrates positive mechanical power with a fixed efficiency estimate.

Suspension — each corner uses m·ẍ + c·ẋ + k·x = Froad. The visible fork carriage is a prismatic joint with a 0.12–2.75 m travel limit. Mast inclination is a bounded visual actuator.

Stability — the static lateral threshold is αtip = atan(b / hCG). Raised or offset cargo moves the combined centre of mass. The body roll display is a damped response to lateral acceleration, not a full multibody tip simulation.

Analytic overlays — braking reference is d = v²/(2μg); tip threshold uses the support half-track and estimated combined CG height. The curves are diagnostic references, not guaranteed stopping or rollover outcomes.

Assumptions & limits

Fixed-step 1/120 s, planar yard, four simplified contact patches.
No tyre relaxation length, drivetrain thermal model, wheel lift, true contact solver, deformable ground or hydraulic pressure dynamics.
Chassis pitch/roll are visual response states; do not use as a real vehicle safety model.
Rain event scales tyre friction to 54% of its dry value after 22 s.

Closed-form self-test — open the browser console and run window.__selfTest() for slope acceleration, static tip angle and spring period checks.

RIG HIERARCHYLIVE PART TREE

forklift_root ├─ chassis · 3900 kg ├─ counterweight ├─ cab / overhead_guard ├─ front_axle │ ├─ wheel_fl · wheel_fr ├─ rear_steer_axle │ ├─ wheel_rl · wheel_rr ├─ mast_outer / mast_inner │ └─ carriage [prismatic] │ ├─ fork_l · fork_r │ └─ pallet_payload [900 kg] └─ rear_steer [revolute]

MY SIMULATOR · EDUCATIONAL PHYSICS SANDBOX · NOT A REAL EQUIPMENT TRAINER