4. The figure below shows a simple bicycle model where the forward motion of the bicycle...
Fantastic news! We've Found the answer you've been seeking!
Question:
![image](https://dsd5zvtm8ll6.cloudfront.net/si.experts.images/questions/2024/02/65ca7e1f24812_37465ca7e1ed8893.jpg)
![image](https://dsd5zvtm8ll6.cloudfront.net/si.experts.images/questions/2024/02/65ca7e1f8f1bf_37565ca7e1f6858e.jpg)
Transcribed Image Text:
4. The figure below shows a simple bicycle model where the forward motion of the bicycle is in the positive XR direction and the origin is centred on the rear wheel of the bicycle. The distance between the centres of the two wheels is 1m and the radius of both wheels is 0.3m. The front wheel is steerable and is currently turned at an angle of radians. r = 0.3mi XR r = 0.3m /4 (i) 1 = 1m Write down the rolling constraint for each of the wheels. (ii) Write down the inverse differential kinematics for the platform. (iv) If a third fixed wheel is added to the bicycle inline and to the rear of the back wheel, as shown in the figure below, what will be the effect of this third wheel on the degree of mobility of the platform? Explain your answer. (v) r = 0.3m r = 0.3mi 1=1m XR 1=1m r = 0.3m /4 Using the Rank / Nullity approach described during lectures, compute the mobility, steerability, and maneuverabilty of the updated platform. What is your interpretation of your results? 4. The figure below shows a simple bicycle model where the forward motion of the bicycle is in the positive XR direction and the origin is centred on the rear wheel of the bicycle. The distance between the centres of the two wheels is 1m and the radius of both wheels is 0.3m. The front wheel is steerable and is currently turned at an angle of radians. r = 0.3mi XR r = 0.3m /4 (i) 1 = 1m Write down the rolling constraint for each of the wheels. (ii) Write down the inverse differential kinematics for the platform. (iv) If a third fixed wheel is added to the bicycle inline and to the rear of the back wheel, as shown in the figure below, what will be the effect of this third wheel on the degree of mobility of the platform? Explain your answer. (v) r = 0.3m r = 0.3mi 1=1m XR 1=1m r = 0.3m /4 Using the Rank / Nullity approach described during lectures, compute the mobility, steerability, and maneuverabilty of the updated platform. What is your interpretation of your results?
Expert Answer:
Posted Date:
Students also viewed these mechanical engineering questions
-
5. Cash Flow: (a) Sketch and briefly explain the general trend of a typical S-Curve. (b) The cash flow diagram for a small project is shown. Estimate the amount of interest charged on borrowed money...
-
PLEASE GIVE CORRECT ANSWERS Prove that the number of comparators in any sorting network is (n log n). [4 marks] (ii) What does Part (d)(i) imply in terms of the depth of any sorting network? [1 mark]...
-
CANMNMM January of this year. (a) Each item will be held in a record. Describe all the data structures that must refer to these records to implement the required functionality. Describe all the...
-
John Woods' weekly gross earnings for the present week were $2,500. Woods has two exemptions. Using an $80 value for each exemption and the tax rate schedule below, what is Woods' federal income tax...
-
Two brothers were shot and killed in their Houston home. The police found shotgun shells at the scene of the crime. Witness testimony led the police to consider Genovevo Salinas to be a person of...
-
Find the mean Poynting vector (S) of a plane electromagnetic wave E = Em cos (wt kr) if the wave propagates in vacuum.
-
List three performance measures for each of the four perspectives in the balanced scorecard.
-
Presented below are selected account balances for Alistair Co. as of December 31, 2012. InstructionsPrepare closing entries for Alistair Co. on December 31, 2012. (Omitexplanations.) Inventory...
-
The latest antidepressant produced is currently involved in the testing process. Eight subjects have joined the testing process where the mean number of days taken before side effects disappeared is...
-
The mean height of an adult giraffe is 18 feet. Suppose that the distribution is normally distributed with standard deviation 0.8 feet. Let X be the height of a randomly selected adult giraffe. Round...
-
A 5.0 kg cannonball is fired horizontally at 50 m/s from a 16-m-high cliff. A strong tailwind exerts a constant 12 N horizontal force in the direction the cannonball is traveling.
-
A _ _ _ _ _ _ _ often puts organizational development into practice.
-
QUESTION ASSETS Cash Accounts Receivable Inventory Property, plant & equipment Total Assets Notes 1. 2. 3. 4. Hawthorn Manufacturing Company Ltd Balance Sheet as at 31/12/19 6. 150 200 640 1.120...
-
Consider the following pool of mortgages: 100 mortgages with initial balance of $118,580, interest rate 4.7%, issued for 30 years with monthly payments 80 mortgages with initial balance of $354,365,...
-
Write the program in c + + ?using include iostream and namespace and do not use global varients. Explain your code and use comments and write the code in simple terms to understand and easy to read....
-
The Board has asked you to review the auto-loan model in place in the firm. This model is designed to assess the expected loss related to each transaction underwritten by the firm. One of the models...
-
The vapor pressure of the liquid NH, is measured at different temperatures. The following vapor pressure data are obtained. Temperature, K P, mmHg 217.1 223.4 234.7 588.1 Calculate the enthalpy of...
-
_________ occurs because our unlimited wants exceed our limited resources.
-
The economic problem is the fact that _________ forces us to choose, and choices are costly because we must give up other opportunities that we _________.
-
_________ deals with the aggregate, or total, economy (the forest), while _________ deals with the smaller units within the economy (the trees).
![Mobile App Logo](https://dsd5zvtm8ll6.cloudfront.net/includes/images/mobile/finalLogo.png)
Study smarter with the SolutionInn App