Changes between Version 3 and Version 4 of GuardianWAM/Kinematics


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Timestamp:
May 31, 2012, 10:39:43 PM (12 years ago)
Author:
dc
Comment:

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  • GuardianWAM/Kinematics

    v3 v4  
    77== Without Wheels (Treads Only) ==
    88
    9 [[Image(profileWithoutWheels.png)]]
     9[[Image(profileWithoutWheels.png)]] \\
    1010'''Figure 1: Profile of GWAM without wheels.''' In this configuration, the origin is equidistant from the ends of the 600 mm-long contact patch and 220 mm above the ground.
    1111
    12 [[Image(topWithoutWheels.png)]]
     12[[Image(topWithoutWheels.png)]] \\
    1313'''Figure 2: Top view of GWAM without wheels.''' In this view, the origin is equidistant from the centers of contact that are 448 mm apart, along the centerline of the robot.
    1414
    1515== With Wheels and Treads ==
    16 [[Image(frontProfileWithWheels.png)]]
     16[[Image(frontProfileWithWheels.png)]] \\
    1717'''Figure 3: Front view and profile of GWAM with wheels.''' With wheels, the origin is 329 mm from the ground instead of 220.
    1818
    19 [[Image(topWithWheels.png)]]
     19[[Image(topWithWheels.png)]] \\
    2020'''Figure 3: Front view and profile 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.