Chebyshev N=3 Polygon Wheel
- Author:
- asifsound
Chebyshev Wheel
From here, We can make N = 6 Hexagon wheel , easily.
cf. another method. Chebyshev Linkage Wheel2 [Hexagon (= 6 edges)]
■ velocity check: 0.7 to 6.3=5.6, 5.6/8=0.7 --- 70% distance
N=3 : 2/3 round to , 5.6/8=70% ≒66% (=2/3)
i.e. velocity of N=3 is almost the same N=2. ---- distance 4/ round, no merit.
cf. Chebyshev Linkage Wheel (N=4) [different algorism] ---- distance 8/ round [= twice distance]
This fig. looks like a good.
But, I think this fig. indicates bad.
#1 black, #2 pink, #3 purple,
2 restrictions have done, between black-pink, black-purple
i.e. purple-pink restriction is lack/ free/ no-restriction.
So, next cycle, purple foot is ground base, ----- here, we supposed that clockwise rotation is forward.
it will fail at its finish point, perhaps.
Because, when purple 120° rotation end, pink foot should be just touched the ground.
This is no guaranteed. ---- is not controlled.
So, This is bad implementation sample.
Please improve this. Denken Sie nach.
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Above has yet logic miss.
2 restrictions is enough number of restrict.
3 restriction is odd.
grounded foot/ leg is independent, and other 2 legs is dependent by one restriction,
so, number of 2 restriction is enough number.
Please find the best tuning result.
From the line symmetry applying,
about r2 = 1.27, t2 = 1.27, j3 = 1.06
is/ may be the feasible unified value(?).
If above value is true, it's good. The coordinator 2 bars don't conflict the axis, this brings a easy implementation, good property.
See check the one cycle movement in above Fig.
Remark: This is N=3 solution, As a result, looks like a N=4 solution. (near the square rotation)
----- line symmetry brings about this.