During the cutting process, the instantaneous center P forms the moving centrode relative to the driven link CDG and the fixed centrode relative to the fixed frame, represented by curves [[GAMMA].sub.1] and [[GAMMA].sub.2], as displayed in Figure 5.
where [??] and [??] are the velocities of instantaneous center P.
Instantaneous radius ([mathematical expression not reproducible]) of point of rotation Di relative to the instantaneous center
([K.sub.0]) is determined by the equation:
Development of an algorithm is based on provisions of the theory of mechanisms and engines about property of high classes mechanisms to change its class depending on another possible initial mechanism chosen conditionally which comes to structure of the conducted structural groups of the mechanism links and provisions of theoretical mechanics relatively to instantaneous center
of velocity (ICV).
The instantaneous center of rotation transfers in the area is surrounded by these three points.
The relation between the instantaneous center of rotation and facet joint forces - A finite element analysis.
Determining the complex mechanism's points kinematic parameters we use the velocities instantaneous center (VIS) [P.sub.5] of the rod 5, whose position is determined using this link's two points C, D vector that link moving in a planar direction.
Researched are the third class complex planar mechanism basic link points velocities using methods, departing from techniques of determining the velocity instantaneous centers units, of links under planar movement.
The other area utilizes kinematic models and external measuring devices, such as visual odometry, inertial measurement units (IMUs), and global positioning system (GPS), to estimate slip or the instantaneous centers of rotation (ICRs) locations [5, 911].
When moving on a plane, the vehicle can be regarded as a rigid body and its motion can be represented by a rotation ([ICR.sub.c] = ([x.sub.c], [y.sub.c])) around its instantaneous centers of rotation.
As the motions of both tracks can be regarded as pure rotations around their instantaneous centers of rotations ICR; and [ICR.sub.r], we write the absolute velocity of points P and Q as
In this paper, we have developed and identified a slip model of tracked vehicles based on the instantaneous centers of rotation of the two tracks.