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