| 0:00:00 | hello my name's daniel to landing at my project is on using a mean wheels |
|---|
| 0:00:04 | to produce harmonic mean |
|---|
| 0:00:06 | so first one or on |
|---|
| 0:00:08 | only wheels are just like wheels that can be driven forward and backward |
|---|
| 0:00:12 | but with the addition of on how word role is around the room |
|---|
| 0:00:16 | there's and power rollers allowing to slide sideways with very little friction |
|---|
| 0:00:23 | one thing that only was a commonly used for the harmonic movement hold on the |
|---|
| 0:00:27 | computers just movement in all directions |
|---|
| 0:00:30 | so if you look at the standard vehicle on the left |
|---|
| 0:00:34 | forces the horn a metrical on the right they can both move forwards and backwards |
|---|
| 0:00:38 | and they can both rotate |
|---|
| 0:00:41 | but |
|---|
| 0:00:42 | only the whole not make vehicle can move side to side the standard vehicle |
|---|
| 0:00:46 | can't have controlled side to side movement |
|---|
| 0:00:50 | so |
|---|
| 0:00:51 | however commotion |
|---|
| 0:00:52 | is movement in any direction |
|---|
| 0:00:55 | so |
|---|
| 0:00:55 | what happens is if one move in this direction |
|---|
| 0:00:59 | two of the motors that are |
|---|
| 0:01:00 | points in that direction will move |
|---|
| 0:01:03 | and the other two will not they'll just a still |
|---|
| 0:01:06 | so if we put some numbers to this |
|---|
| 0:01:08 | if each of the motors has power and a speed of i am sorry |
|---|
| 0:01:13 | then the total speech will be to m |
|---|
| 0:01:19 | but let's take a more complicated example so suppose that we want to directly sideways |
|---|
| 0:01:25 | now all four motors have to move and what happens is |
|---|
| 0:01:29 | the horizontal components of their movement are |
|---|
| 0:01:32 | that |
|---|
| 0:01:33 | final vector sideways |
|---|
| 0:01:35 | but the vertical components all cancel each other out |
|---|
| 0:01:38 | so there's a set of equations that are pretty well documented |
|---|
| 0:01:42 | that you can use to |
|---|
| 0:01:43 | figure out how quickly each what's new |
|---|
| 0:01:47 | so if you puts a number to this each |
|---|
| 0:01:50 | we'll has a horizontal component of room to over two |
|---|
| 0:01:54 | there were two over two is just there because the wheel isn't played in the |
|---|
| 0:01:58 | right direction so you have to figure that out |
|---|
| 0:02:01 | so this for motors the total speed is gonna be for we're to over two |
|---|
| 0:02:07 | or about two point eight to and |
|---|
| 0:02:10 | substantially faster the last time |
|---|
| 0:02:13 | so you can actually graph these the last is by calculating |
|---|
| 0:02:16 | many different points and plotting the wanna chart |
|---|
| 0:02:19 | here you can see that |
|---|
| 0:02:21 | going forwards backwards left and right are this vehicles best points of movement and that |
|---|
| 0:02:28 | it's a worse points of movement or forty five degree angles which everything else falling |
|---|
| 0:02:32 | somewhere in between |
|---|
| 0:02:35 | so for my experiment actually built |
|---|
| 0:02:37 | this |
|---|
| 0:02:38 | vehicle and several others and tested them seeing how quickly they can move in different |
|---|
| 0:02:43 | directions |
|---|
| 0:02:45 | so i got some mixed results for the first one |
|---|
| 0:02:49 | the data is okay it's not great i'd fears |
|---|
| 0:02:54 | it's awfully trending in the right direction |
|---|
| 0:02:57 | and it's |
|---|
| 0:02:59 | had little variability which i expected it's not quite as good as the predicted data |
|---|
| 0:03:04 | also there were couple data points that i wasn't able to take because of some |
|---|
| 0:03:09 | equipment failure |
|---|
| 0:03:11 | then on types b and c or some other types of vehicle that i looked |
|---|
| 0:03:17 | at the user different because now the we also no longer at forty five degree |
|---|
| 0:03:22 | angles instead |
|---|
| 0:03:24 | these wheels r at |
|---|
| 0:03:27 | sixty degree angles and one twenty degree angles to each other |
|---|
| 0:03:30 | that means the predicted short looks very different |
|---|
| 0:03:33 | it now looks very stretched in one direction because it's much faster |
|---|
| 0:03:37 | going in the direction those goals are aligned in much lower going against the wheel |
|---|
| 0:03:42 | alignment |
|---|
| 0:03:43 | so for type |
|---|
| 0:03:44 | b |
|---|
| 0:03:45 | the |
|---|
| 0:03:46 | results the i got are actually pretty close that |
|---|
| 0:03:50 | peaks and should the right places and there's only a couple things that look off |
|---|
| 0:03:57 | so that was actually my best result by far type c is not quite as |
|---|
| 0:04:01 | good or it's about the rights |
|---|
| 0:04:04 | speed in the going directly up and down |
|---|
| 0:04:07 | but in the left to right direction is not as fast set up |
|---|
| 0:04:12 | finally type the was definitely the one that when the worst |
|---|
| 0:04:17 | i this was just a triangle expected to be both the smallest and what this |
|---|
| 0:04:21 | lowest variability |
|---|
| 0:04:23 | but it ended up |
|---|
| 0:04:25 | going to fastest and having |
|---|
| 0:04:26 | the most variable |
|---|
| 0:04:28 | so in conclusion because of this |
|---|
| 0:04:31 | bad data i couldn't reject final hypothesis which was that the variations in movement we |
|---|
| 0:04:35 | do jeff subjects alone |
|---|
| 0:04:36 | it's not necessarily a bad model for predicting movement speeds |
|---|
| 0:04:40 | but i wasn't able to get enough data to support it's |
|---|
| 0:04:45 | and so more research is still require |
|---|
| 0:04:48 | so thank you very much for watching if you any |
|---|
| 0:04:50 | questions or comments please send them to do any dot daniel that you know that |
|---|
| 0:04:55 | call |
|---|
| 0:04:56 | thank you very much |
|---|