Quote:
Originally Posted by GeeTwo
I'm at the office today, so I can't look at it in detail until this evening, but this document has several serious issues, in particular the directions of the rollers as they make contact with the ground - all of the force diagrams (most particularly figure 3) show forces in an "X" configuration, but the rollers should contact the carpet in a "<>" diamond configuration if they have an "X" configuration as viewed from above (and specified in figure 2).
In Fig 3 wheel 2, Fp should point "northwest" and Ft should point "northeast". This also causes them to swap strafe directions in the table. I'm surprised they were able to get any rotation at all.
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Thank you very much.
The first article has been cited by the second one.
Here is the first one with an open access.
http://researchspace.csir.co.za/dspa...dle/10204/2771
or
http://researchspace.csir.co.za/dspa...lale2_2008.pdf