1 (X):  Left Wheel Side View Swing Arm Length

mm

The distance between the left wheel center and the left wheel center side view instant center.  It is calculated using the following equations:

Orientation A:

dx = C(1,3)+C(1,9)

dz = C(3,3)+C(3,9)

dtheta = C(5,3)+C(5,9)

length = sqrt(dx^2+dz^2)/abs(dtheta)

Orientation B:

dx = -C(1,3)-C(1,9)

dz = C(3,3)+C(3,9)

dtheta = -C(5,3)-C(5,9)

length = sqrt(dx^2+dz^2)/abs(dtheta)

2 (Y):  Right Wheel Side View Swing Arm Length

mm

The distance between the right wheel center and the right wheel center side view instant center.  It is calculated using the following equations:

Orientation A:

dx = C(7,3)+C(7,9)

dz = C(9,3)+C(9,9)

dtheta = C(11,3)+C(11,9)

length = sqrt(dx^2+dz^2)/abs(dtheta)

Orientation B:

dx = -C(7,3)-C(7,9)

dz = C(9,3)+C(9,9)

dtheta = -C(11,3)-C(11,9)

length = sqrt(dx^2+dz^2)/abs(dtheta)

3 (Z): Average Side View Swing Arm Length

mm

The mean of components 1 and 2.

4 (RX):  Left Wheel Side View Swing Arm Angle

deg

The side view angle between horizontal and the line connecting the left wheel center and the left wheel center side view instant center.  It is calculated using the following equations:

Orientation A:

dx = C(1,3)+C(1,9)

dz = C(3,3) + C(3,9)

angle = atan(-dx/dz)*rtod

Orientation B:

dx = -C(1,3)-C(1,9)

dz = C(3,3) + C(3,9)

angle = atan(-dx/dz)*rtod

5 (RY):  Right Wheel Side View Swing Arm Angle

deg

The side view angle between horizontal and the line connecting the right wheel center and the right wheel center side view instant center.  It is calculated using the following equations:

Orientation A:

dx = C(7,3)+C(7,9)

dz = C(9,3) + C(9,9)

angle = atan(-dx/dz)*rtod

Orientation B:

dx = -C(7,3)-C(7,9)

dz = C(9,3) + C(9,9)

angle = atan(-dx/dz)*rtod

6 (RZ): Average Side View Swing Arm Angle

deg

The mean of components 4 and 5.