[python] Pendulum effects
- From: Vi Vuong <vi_vuong@xxxxxxxxx>
- To: Python <python@xxxxxxxxxxxxx>
- Date: Wed, 9 Mar 2011 21:24:57 -0800 (PST)
Hi All,
We have been turning the Bango quad with mostly the outer wheel, because the
inner wheel only needs much less turning to minimize tire scrubbing. This
figure depicts the shallow angle compared to the Ackerman angle, which is
harder
to achieve with center steering.
http://en.openbike.org/wiki/File:Bango_steering.png
After some calculation, it seems that the shallow is possible due to the
pendulum effect causing the wheels to go up & down. As we lean into the
corner,
the inner wheel must be higher than outer wheels via smaller angle. Wheel tilt
angle may also play a role and asymmetry is also suspect, but the behavior is
almost the same in either direction.
We made some attempts to achieve Ackerman angles but it's hard to eyeball. We
did notice the outer wheel skid along, as if it barely touch the ground.
We need to figure out a way to measure the steering angles and tire scrubbing
sound simultaneously for more system dynamics analysis. Any thoughts on the
two
distinct angles, Python vs. Ackerman? Can this be some sort of bifurcation? We
do have a pendulum after all. http://en.wikipedia.org/wiki/Local_bifurcation
A video for your entertainment...
http://www.youtube.com/watch?v=jzUr3GI_ulE
Vi
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