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The figure shows a childs tricycle as viewed from above When the wheels do not slip over the ground the velocity of each wheels center must be perpendicular to the wheels shaft in the horizontal

The figure shows a child’s tricycle as viewed from above. When the wheels do not slip over the ground, the velocity of each wheel’s center must be perpendicular to the wheel’s shaft in the horizontal plane, as shown. Consider a set of generalized coordinates consisting of the position coordinates XA and YA of the steering joint, the angle of orientation θ of the frame, the steering angle β, and the spin angles φA, φ B, and φC of the wheels. Derive the velocity constraints among these seven generalized coordinates. From that result, determine the number of degrees of freedom.

 

 

 

Jun 16 2020 View more View Less

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