Good night, this time I will present a

Summary of kinematic constraints of wheel.

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It has no vertical akses of rotation for steering,
This wheel can traverse Front or Reverse.
The center of the wheel is fix to the robot chassis.
so that, the angol between the robot chassis and wheel
plane is constant.
By the adequate amount of wheel spin in order to get PYOOR
rolling at the contact point, the wheel imposes that
all MUVment along the direction of the wheel plane:
be as indiqueided in the first equation (Ec1)
This equation is Expressing point A at polar coordinaits:
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The slaiding constraint for this wheel enforces the wheel’s
motion normal to the wheel plane must be zero, as
indiqueided by the second equation: Ec2.
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it has an additional degree of freedom to the fix
standard wheel. the wheel mey roteid around a vertical
akses passing, thruu the center of the wheel and the
ground contact point.
The equations of position for the wheel are similar to
fix standar wheel with the exception that the
orientation of the wheel to the robot chassis is
no longer a constant 𝛽 but a function of time 𝛽(𝑡).
This constraints are aidenikal to thos of the fix
standard wheel because, onlike phi and beda point ,
dosent have adirect impact on the instentenious
moshion constraints of a robot.
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FAINALY
They can stir around a vertical akses.
The vertical akses dosent pass thruu the center of the
wheel,but is slaitdi off-centerddd.
One of the biggest drawbacks of this eswuivol wheels is
floder. A floder happens when the wheel is not in
contact with the ground and rotates freely in any
direction, so that, must be balenst by an equivalent
and opposet amount of castor stiring moshion.
And the equations are thos presened below.

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