Changes between Version 6 and Version 7 of GuardianWAM/Kinematics


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Timestamp:
May 31, 2012, 10:48:26 PM (13 years ago)
Author:
dc
Comment:

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  • GuardianWAM/Kinematics

    v6 v7  
    44
    55The origin of the Guardian is conventionally defined relative to its patch of contact with the ground. This situates the origin in the geometrical center of the Guardian. The WAM origin (as used by the WAM software) is then defined relative to the Guardian origin.
     6
     7Because the origin is located equidistant from all points of contact with the ground, its center of rotation when performing in-place rotations is the Z-axis, assuming equal conditions for each wheel/tread (traction, tire pressure, contact area, etc.).
    68
    79== Without Wheels (Treads Only) ==
    … …  
    1921[[Image(topWithWheels.png)]] \\
    2022'''Figure 4: Top view of GWAM with wheels.''' The contact patches are now 673 mm apart left to right instead of 448. The wheel contact points are 600 mm apart.
    21 
    22 Because the origin is located equidistant from all points of contact with the ground, its center of rotation when performing in-place rotations is the Z-axis, assuming equal conditions for each wheel/tread (traction, tire pressure, contact area, etc.).
    23