Skid Steer Example

known: $r_2{r}_3{r}_4{r}_3{r}_0{r}_1{r}_2{r}_4{r}_0{r}_2,$

VLE'S:

Question $51$

vec$(r{)}_2+$vec$(r{)}_3+$vec$(r{)}_4+$vec$(vec(s){)}_3-$vec$(r{)}_1=$vec$()$

vec$(3{)}_3+$vec$(r{)}_1+$vec$(r{)}_n-$vec$(r{)}_2=$vec$(0)$

vec$(r{)}_1+$vec$(r{)}_4-$vec$(r{)}_0=$vec$(0)$

How many DoF does the skid steer have?

$2$

$3$

$4$

Question $3(1$ point$)$

How many loops does the skid steer have?

$1$

$2$

$3$

$4$

Question $4(1$ point$)$

Why can the top loop be solved separately from the bottom loops?

It can't

It is green

The machine is a hybrid mechanism chain

Its relative motion is independent of the others

Question $7414$ point

Which of the following are inputs to the machine? Select all that apolly.

theta $1$

$1$

theta$2$

thetalo

$10$

Question $8(1$ point$)$

What size is the top loop lacobian?

$22$

$44$

$41$

$66$

$21$

Question $9(1$ point$)$

Could we have solved all the loops together using a $66$ Jacobian?

Yes, but only if the scoop is resting on the ground

Yes, but we didn't because it is mathematically easier to separate them

No$,$ that would create too many unknowns

No$,$ the max size a bacobian can be is $44$

Answer questions $5-9$ asap running out of time