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Do you have to have a three wheel endorsement for a trike with the motor in the back like a VW motor?
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∙ 12y ago
yes
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∙ 12y ago
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Why do you use slotted armatures in dc machines?
Those slots, or areas where metal was removed serve to balance the motor's armature. This is similar to the concept of "balancing" a wheel on a car.Metal material is 'shaved' or notched ( removed) from the side of the armature which is too heavy, ( and causes a ' wobble' as the RPM's are increased.)However, On a car, wheel weights are added to the OPPOSITE side of the wheel's heaviest spot of imbalance, until the wheel can be spun at a high speed, with no wobble.AnswerThe slots carry the armature conductors, while minimising the air gap between the rotor and and the stator (to minimise the reluctance of the magnetic circuit)!They have nothing to do with 'balancing' the armature.
How can you build an easy and electrical robot from parts around the house?
The Omni-WheelSo how does a robot that can move omni-directionally work? The trick is that it uses special wheels . . . The omni-wheel is not actually just a single wheel, but many wheels in one. There is the big core wheel, and along the peripheral there are many additional small wheels that have the axis perpendicular to the axis of the core wheel. The core wheel can rotate around its axis like any normal wheel, but now that there are additional wheels perpendicular to it, the core wheel can also move parallel to it's own axis.Below are a few of the available omni-wheels on the market. The wheel size and diameter are dependent on things like expected robot speed, weight, etc.You must also be concerned with wheel material. I originally built this omni-wheel robot using omni-wheels made entirely out of plastic - but apparently plastic was too smooth and the wheels were not getting much ground traction. Instead you should make sure the small peripheral wheels are made out of some high traction material, such as rubber or polyurethane. After realizing this mistake and getting new high traction wheels, the results greatly improved by several orders of magnitude. I used this omni wheel for my robot.Omni-wheels also make great castor wheels. If you are interested in calculating what wheel diameter is best, you should read the tutorial on robot dynamics.Holonomic vs Non-Holonomic RobotsThere are only two types of mobile robots, holonomic robots and non-holonomic robots. Non-holonomic robots are ones that cannot instantaneously move in any direction, such as a car. This type of robot has to perform a set of motions to change heading. For example, if you want your car to move sideways, you must perform a complex 'parallel parking' motion. For the car to turn, you must rotate the wheels and drive forward. This type of robot would have '1.5' degrees of freedom, meaning that it can move in both the X and Y direction, but requires complex motions to achieve the X direction.A holonomic robot however can instantaneously move in any direction. It does not need to do any complex motions to achieve a particular heading. This type of robot would have 2 degrees of freedom in that it can move in both the X and Y plane freely. A robot arm typically is omni-directly too, with many more degrees of freedom.Now here is a question for you. Is my Taurus 2 robot holonomic or non-holonomic? To be honest, I am not entirely sure myself. It can move in any direction almost instantaneously - I say almost because there is the small delay time it takes for the wheels to change angles. Perhaps '1.75' DOF? Anyways . . .3 Wheels vs 4 WheelsMost omni-wheel robots consist of a triangular platform and three wheels. But it is possible, and often better, to use four wheels. There is only one good reason why three wheels are better - three wheels and three motors are cheaper than four of each.There is however a problem inherent with four wheel vehicles, and that is the fact that four points are not guaranteed to be on the same plane. Three points are. If your four wheeled robot encounters uneven terrain, there is a good chance that one of those wheels will not be in contact with the ground - holy squirrels! But there are many simple solutions to this. My four wheeled Taurus 2 uses a rocker-bogey system. Cars use spring shocks. My omni-wheel design used a thin flexible aluminum base on which the servos were mounted, able to bend and flex with the terrain.But I would argue that, with the exception of cost and a small increase in complexity, four wheel designs are better.Firstly, four wheels are more efficient. With a three wheel design, it is impossible to get 100% efficiency from its wheels. This is because in three wheel designs, no more than one wheel will ever be aligned with the direction of motion. But with four, two wheels can move at 100% efficiency, while the other two remain idle, for full speed more efficient motion. All other angles will also be more efficient than with a three-wheeled omni-wheel robot.As you can see, in the four wheel design, two wheels are rotating and contributing 100% to motion, while the other two are not moving at all and acting as castors. For this reason, a four-wheeled omni-wheel robot is faster, while using as much or less motor energy.The other main reason why four wheels are easier is for computational reasons. Four wheels are at 90 degrees to each other, while three wheels are at 120 degree angles. What does this mean? Four wheel designs have wheels directly opposite of each other, meaning a pair of wheels just needs a single calculation, with one wheel receiving a negative number while the other positive. Three wheel designs have no wheel pairs, meaning three calculations are required.Control of an Omni Wheel RobotFor an omni-wheel robot to translate at a particular angle, each wheel must rotate at a particular rotational velocity and direction. Since the robot is moving at angles, it will need to do trigonometric calculations to determine these wheel speeds. However trigonometric calculations are not always possible, since control of an omni-wheel robot very much depends on your robots computational processing ability. If you are using a PC or palmpilot as the robot controller, your robot could do thousands of trig calculations per second. However most microcontrollers cannot. A microcontroller (such as a PIC or AVR), not doing anything else, can do about three trig calculations per second. But unfortunately your robot also needs to read from sensors, drive servos, interpret data, and many other things. Instead, you will need to use what is called a trigonometric lookup table. Basically you do the trig calculations before hand and save them in memory, and the program just references a list. It wont be 100% accurate, or as elegant in code, but it will be much much faster - its a balance of speed and accuracy. An accuracy within 10 degrees worked fairly well.As for position control, this is impossible with an omni-wheel robot. The omni-wheel works on the basis of wheel slippage, so using things like encoders for position will not work. You must have the robot detect it's surroundings to track its motion accurately - IMU's, gyros, visual tracking, etc. will work.Optimization of actuator control is a little complicated. There are several things you need to consider:Angle control. For an omni-wheel robot to translate at a certain angle, each motor needs to go at a certain speed with relation to the others. The speed doesnt matter, just the ratios.Motor speed. The faster the motors go, the faster the robot goes.Rotational control. For an omni-wheel robot to rotate at some particular speed, it must add or subtract equally from the motor speed of each motor.Maximum motor speed. Motors can only go so fast, so when you do ratios, and rotational control additions, you must make sure that you are not commanding a motor to go faster than it can.Global angle. You may or may not want to control for the angle of the robot to it's surroundings.So how do you do this? Well you do these calculations in this order:1) Calculate motor ratios to determine translation angle. Do this using the trig lookup tables.2) Calculate rotational velocity constant. Just add or subtract some constant to the translation motor speeds to rotate clockwise or counterclockwise.3) Check and correct to make sure maximum motor speed isn't exceeded. Suppose maximum speed is 100, but your four-wheel calculations call for motor speeds at 50, -50, -110, and 110. Well the ratio is 50/-50/-110/110. It must be X/-X/-100/100, with an unknown X value, based on a maximum speed of 100. Using algebra, your equation then becomes:50/110 = X/100X = 45.45 =~46The motor speeds become 46/-46/-100/100.Again, this calculation is more difficult for a three-wheeled omni-wheel robot, but the calculation can be done in the same manner. You can also slow the robot down by changing the maximum velocity in software.Disadvantages of Omni Wheel DriveThere are unfortunately several disadvantages to omni-wheel drive. Omni-wheels have poor efficiency because not all wheels rotate in the direction of robot movement. There are high losses from friction too. Position control will not work because of high slip. And there is the high computational loss by calculating angles with trigonometry.Construction Steps to Building an Omni-Wheel RobotIf you would like to have your own four-wheeled omni-wheel robot, the below images show typically how to construct one.Firstly, this is how I attached the omni-wheel to my servos. I drilled holes into the wheel, and attached the servo hornwith screws:Below are the images taken during production, helpful if you wish to build a similar omni-wheel robot of your own. Note that the white plating is HDPE and the metal is thin sheets of aluminum. I used long spacers to connect the top and bottom. I used two 6V NiMH batteries, one to power motors, the other to power sensors and the microcontroller.As also seen in the video, the last two images are modifications I made for the CMU MOBOT line following competition. The big giant fan was used to blow away dust that kept mysteriously clogging up the IR sensors. Three omni-wheels were removed because they couldn't scale the large cracks in the cement on the competition course, 2 large foam wheels were added, and the last one was kept as a castor wheel.Additional Features on Fuzzy (the Robot)(unrelated to omni-wheel robots, but still interesting)Fuzzy, for fuzzy logic, was my first attempt towards a robot with AI. I basically reasoned the more sensors I had on the robot, the more 'intelligent' the decisions it could make. I was going to give it a set of 'emotions':tired: slow speedbored: randomly activate other emotionsafraid: hide, avoid things that moveclaustrophobic: stay out in lighted, open areashungry: low battery alert, be more efficientwanderlust: explore a lotfrustration: try something new to acheive a goalSensors UsedThree scanning Sharp IR rangefinders mapped everything in front of it. 2D Mapping was done at 180 degrees, picking up objects at a distance of up to 20ft, and with an update rate of 3Hz. It successfully made intelligent navigation decisions, as seen in the video. It can identify all objects, and the size of the objects, in front of it to determine if there is enough room between objects to pass through or if it must go around.Three sonar, used mainly as bumper sensors to compliment the Sharp IR. It was my first time using sonar, so it was a good educational experiment. Looking back, I think two wide angle sonar would have been more than sufficient though.Two infrared emitter detector pairs were used for the line following modification.The results of the experiment? Well, lets just say the PIC16F877 doesnt have enough memory to do AI. It ran out of memory after programming most of the sensor's into it. I had plans for a digital compass and photoresistors too, but that didnt work out. It did mapping, did intelligent obstacle avoidance, could do all of its movements properly, etc. But sadly, no emotions.Source Code:PIC 16F877 source code for omni-wheel robotsnote: there is a minor uncorrected bug for motion planning that I never got around to fixing
What was the first electrical machine invented and who by?
And by whom ... Barlow's wheel, 1882 by Peter Barlow But I think you ask for Moritz Jacobi, (first electrical motor in 1834) and followed by the first motor powered boat with ability to carry eight persons in 1838. It is, however, always hard to pinpoint the exact time for each and every invention from that period, especially when it concerns electricity and mechanics, because, as it is known, the pattents were sold for nothing and true inventors were sometimes not recognised.
What is electricity and what are 3 major ways that it is produced?
Electricity is the flow or potential of electrons , it is produced using 1) hydro electricity (water flows from dam to propel a water wheel connected to an electric motor(alternator) , 2) using burning coal in coal fired stations (uses burning coal to heat water in to steam ,which steam then turns a gas turbine that is connected to an electric generator/alternator 3) using windfarms (uses a giant aerodynamic propeller to turn an alternator(electric motor/generator) from the force of wind.
How can water supply electricity?
Water can supply electricity in usually one reason - the water wheel, or it's close cousins. The water pushes on the wheel, and turns the water wheel. As the wheel spins, it creates mechanical energy. This mechanical energy is fed through a converter, which turns it into useable electricity. It is the same concept as wind with a wind turbine.
Do you need a motorcycle licence to drive a trike in Ohio?
No, you can get a 3 wheel vehicle endorsement. If you have a motorcycle endorsement, you can drive a trike but not the opposite.
What is a three wheel roller skate called?
A bike with three wheels is called a tricycle.Or trike(slang)A Tricycle
Can you set reverse gear mechanism in two wheeler vehicle?
Yes you could,but why,an old Harley Davidson 45 trike,they used them for ice cream carts and meter maids for the police,they had a three speed with reverse,the same transmission can be put on a two wheel bike-motor cycle but why would you want to,the goldwing with the trike kit has reverse also
Can you import a trike into Canada?
you can only Import a FACTORY made Trike into Canada now, NO bikes with the ADDed on trike kiits, Bombadier Sypder-- Boss hoss and I think the new HD Trike is only allowed. and you cant ride your 2 wheel down and have a Trike -kit installed and bring it back,LEGALLY anyway.and if you get caught, you will LOOSE your TRike. I have good freind who bought a used 2007 Gold Wing with Trike kit,arrived at Border and was turned back, he went back to selling dealer and traded it in on a NEW 2 wheeler and a New Kit which he brought home in same trailer but not installed.I tryed same lastb yr, NOPE,so just brought home a 2 wheel Gold Wing, and will order a Canadian made Trike Kit now.
My husband needs to get his trike drivers license in florida. Can you tell me what the course may be like for a motorcycle trike?
By Florida law, the only way to earn a motorcycle endorsement for 2-wheeled or 3+wheeled rides is to take a class. The 2 wheel version is called the Basic Riders Course, the 3 or more wheel version is called the Sidecar/Trike Education Program. Either program will result in an endorsement, but if he qualifies on 3 wheels he will be restricted to 3 or more wheels to ride, while if he qualifies on 2 he can still ride trikes, also. The only school in Florida that offers the S/TEP class is Florida Motorcycle Training in Eustis. Their number is 352-589-7233, their website is www.SafeRide.com. They are the only school as of 8/30/08, and there are not any plans currently in place to offer more locations yet. The tuition is $245, the class is two days, and he can bring his own trike or ride one of theirs for a small extra fee. Hope this helps...Angie
Is a motorcycle license required to ride a trike in South Carolina?
You dont need a license if it is under 50cc but anything over you will need one because of how fast the bike can go and because of the damage it can do so yes you do need a motorcycle license in south carolina.
Do you need an endorsement for a 50cc scooter in Washington?
According to the Washington State Department of Licensing, a 2-wheel endorsement is needed for a 50cc scooter that can go faster than 30 miles per hour. If the scooter has a stabilizing conversion kit installed, a 3-wheel endorsement is required.
When was Johnson Motor Wheel created?
Johnson Motor Wheel was created in 1914.
Best recumbent bikes?
first time- compact long wheel base with over seat stearingfor speed- short wheel basetouring-long wheel basewhether proof-velomobilestabiltey trike- (delta)fun-(tadpole) hope this helps
Where is actuator motor in all wheel drive bravada?
Located in the transfer case. You need to remove front driveline, then remove three bolts holding motor. Pretty simple job.
Where can one buy a nice Three Wheel Motorcycle?
To purchase a three wheel motorcycle, one should try motor listings, such as Autotrader. Alternatively, speak to a local garage who may be able to find one, or try webpages such as Ebay.
What is an Lyman electric trike?
It is a 3 wheel electric bike made by a company called Lyman Metal Products. They also made a Quad bike that had has 4 wheels. Mr. Lyman also made a electric conversion kit for the Ford Pinto. Getting back to the trike. It came in the color red. It has a 1/2 hp motor. The top speed is 7mph. Weight 120 lbs. Length 75 inches Width 31 inches Height 39 inches
