This tutorial is intended to complement RobotShop's Drive Motor Sizing Tool by providing you with a step by step explanation as to the calculations behind the dynamic tool. In the image below, half a mobile robot is shown. Although in this scenario only two out of the four wheels are driven, the equations below can be used for any number of passive and driven wheels, as well as for tank tracks. The equations are presented without units (units are presented with the drive motor selection tool).
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/blog/show/drive-motor-sizing-tutorial