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