I have a tricycle with a following data (see attachment):
- Distance (d) between center of front wheel (F) and center between rear wheels (C) = 325 mm
- Velocity of front wheel (VF) = 50 mm/s
- Angle of front wheel (α) = changing between -90;90
- Distance between point C and P = 129 mm
ω = (sin(α) * vF) / d
What I need, is the component velocity of a point between the front wheel and the center between rear wheels (P) in its local coordinate system. This local coordinate system is for sure turning with the vehicle.
The Attempt at a Solution
To calculate the velocity in point P i used the angular velocity and the distance between C and P:
vP = ω * 129 mm
This is for sure right, if α = ±90. But If α = 0, my vP is also 0, which can't be.
So somehow the velocity connected with the front wheel angle α must have an influence as well.
Finally, I need to split the velocity of point P into its X- and Y-component.
Thanks for your help.
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