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Killough Center of Rotation
We have been experimenting with an Asymmetric Killough chassis off season. The intent is that by using a toe-in off 30 degrees instead of 45, we can trade off more lateral traction loss for less forward traction loss.
As part of that, we would like to be able to implement a "bump and run" where we rotate around the corner of the bumper. We have developed a spreadsheet to calculate the relative wheel speeds. The the wheel locations and toe-in are parameterized so it is usable for other configurations.
Please review and recommend corrections to the math. the intent was to calculate the radius and tangent for the circle traversed by each wheel contact point with respect to the center of rotation. That velocity was then rotated by the difference of the tangent angle and the wheel angle to find the wheel velocity with the correct tangential component.
Use at your own risk; standard mileage may vary warnings apply.
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