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Xtreme Alloys At Xtreme Alloys quality and service are paramount, Xtreme Alloys provide a highly skilled and comprehensive alloy wheel refurbishment service, which includes a unique multi step process that takes damaged wheels and returns them back to original manufactured Finish With a focus on servicing the automotive sector we have created a factory production environment that is capable of managing a High volume of wheels on a consistent basis.
To avoid serious or fatal injury on vehicles equipped with airbags, disable the supplemental restraint system before attempting any steering wheel, steering column, airbag, seat belt tensioner, impact sensor, or instrument panel component diagnosis or service.
Swerve Inverse Kinematics Inverse Kinematics The goal of inverse kinematics is to determine the appropriate inputs to a system (in our case, commands to the turning and driving motors) in order to produce a desired output (a velocity vector and a rotational speed and direction for the robot). For swerve, we don’t need to determine what to send the motors directly, since we’re using control loops for that, but we do need to tell those control loops what direction and speed we want for the wheels. Determining the outputs The outputs we want are determined by user input. I decided to keep it simple and set the x component of the desired velocity vector based on the xinput of the left joystick, the y component of the velocity vector based on the yinput of the left joystick, and the desired rotation based on the xinput of the right joystick. I’m considering joystick inputs to be on a range from 1 to 1. Some definitions: V The maximum speed one of our wheel pods can move max V The desired velocity vector of the frame (componentized into V and V ) f f, x f, y ⍵ The desired rotation of the frame; I’m defining counterclockwise as positive f L The vertical length of the robot (measured between contact points of wheels) W The width of the robot (measured between contact points of wheels) √ 2 R = L 4 2 + W4 The robot’s radius of turning Target settings based on my control scheme: V = V * leftJoystickX f, x max V = V * leftJoystickY f, y max ⍵ = V * rightJoystickX / R f max Wheel motion If there’s no rotation, each of the wheels clearly moves with the same velocity as the frame; they should all face the same direction and move the same speed. This is identical to crab drive. Applying rotation changes the target velocity of the wheel. Recall V = ⍵R from physics. Thus, on the upperleft pod, the target velocity is componentized as follows. (Note to self: add diagram). 1 ɸ = tan (L / W) The angle between the frame and the first wheel pod 1 V = V ⍵ * sin(ɸ ) * R = V ½ * ⍵ * L 1, x f, x f 1 f, x f V = V ⍵ * cos(ɸ ) * R = V ½ * ⍵ * W 1, y f, y f 1 f, y f The following is a table, by physical position on the frame, of the componentized wheel velocities: V = V ½ * ⍵ * L 1, x f, x f V = V ½ * ⍵ * W 1, y f, y f V = V ½ * ⍵ * L 2, x f, x f V = V + ½ * ⍵ * W 2, y f, y f V = V + ½ * ⍵ * L 1, x f, x f V = V ½ * ⍵ * W 1, y f, y f V = V + ½ * ⍵ * L 1, x f, x f V = V + ½ * ⍵ * W 1, y f, y f Note that they are very similar, except for the sign on the rotational influence term. Each pod inherits the target velocity of the frame, and its velocity components are either added to or subtracted from by the rotational influence term, depending on where they are. Determining the wheel pod settings Now that we know the target velocity for each wheel pod, deriving the target angle and speed for each wheel is simple. Θ = atan2(V , V ) The target angle for wheel pod n n n, y n, x |V | = n √ The target speed for wheel pod n (V n, x)2 + (V n, y)2 Finally, because the target speeds may not be in the same range as your motor settings, if any of the target speeds is greater than 1, divide all target speeds by the greatest target speed. Room for improvement Note that this technique does NOT account for the fact that wheels can turn backwards. In order to reverse direction, it is more efficient to hold the wheel pods at the same angle and reverse their wheels. However, this technique, when applied on its own, will instead turn the wheel pods 180° at full forward drive power.
WHEEL FITMENT INSTRUCTIONS 1. Print a copy of the drawing, making sure that the “Page Scaling” is set at “none.” (or make sure “Scale” is at “100%”) 4. Glue the drawing to a stiffer piece of material such as a manila folder to make the template easier to use. Finish by cutting directly along the dotted line. 2. Check dimensions both vertically and horizontally to confirm it has been printed to scale. 3. Cut the drawing just outside the dotted line. 5. Lay the template inside the wheel as shown. 6. Verify that the edge of the caliper does not touch the rim or the wheel spokes. A minimum clearance of 2mm (0.080”) is recommended. If there is interference, different wheels or a spacer will be necessary. Use of a wheel spacer is at the discretion of the vehicle owner. Typically a properly made spacer of 2‐3mm will not adversely affect the vehicle. Issues that must be addressed before utilizing a wheel spacer include, but are not limited to, fender clearance, proper wheel bolt or stud length, effect on vehicle handling, and centering of the wheel.
187F 3 147F INSERT GRINDING WHEEL, SCREW IN FINGER TIGHT.
LIBERALLY - GENERATES LESS HEAT - WHEEL CLOGGING • EXTENDS WHEEL &
HERE'S THE GRINDER Well after all of the thinking and talking about it, here is the grinder that I built. It is very similar to the one that Rob Frink has on his site, but with some modifications. I am trying to draw up some plans for it and will share them with anyone who would like to have them once I get them done. I traded a knife to a friend who has a small machine shop for the aluminum bar and plate. I did all of the cutting, drilling and tapping myself. I bought the contact wheel and shaft and the idler from Rob Frink at Beaumont Metal Works. The rest I did myself. I really haven't totaled the cost yet, but I have less than $700 in it including the motor. Here is the right side of the grinder Another from the right rear Here is a pic of the tracking adjustment Here is the 2hp Leeson dc and matching control that I bought on an eBay auction Here is the left side I'll try to get some more detailed pics if anyone wants to see something specific. The batteries died in the camera as I was taking these so they are all I have for now. Let me know what you think. Mike Ps: You will have to overlook the mess, I didn't take time to straighten anything up before taking the pics and still have to mount the control box for the motor and wire it up correctly. ----------------------------------------- Baltes189 Guest Registered: Not Yet Location: Posts: N/A Grinder Wheels Did you make the wheels on your grinder? If so How did you do it, I am very curious about making some for a future grinder because I don't want to shell out 28 bucks a wheel, or what ever the price is, Although if I could find some really cheap fairly good wheels I could go that route. ----------------------------------------- Mike Conner Guest Registered: Not Yet Location: Posts: N/A Re: Grinder Wheels I made the drive wheel and am making the 2" wheels for the flat platen and will make the small wheel attachment. I have a small lathe. You can see part of it in the background in a couple of the pics. I am making them just because I want to, but by the time you buy the bearings and the 2" aluminum bar stock, it wouldn't be that much more to just buy the wheels from Rob Frink. He does first class work, and you will get more than you pay for when you buy from him. Mike ----------------------------------------- KandSKNIVES Guest Registered: Not Yet Location: Posts: N/A Re: Grinder Wheels Mike, considering the cost of the motor and control, you really saved yourself some big bucks. In fact, you could say you are way ahead. Can your strut be shortened up enough to use 2/48 belts? ----------------------------------------- Mike Conner Guest Registered: Not Yet Location: Posts: N/A Re: Grinder Wheels Ken, I really don't know, but I can check and see. If not a person could change the layout some to accommodate the shorter belts, but there is such a better selection of 2X72 belts on the market. I built this one out of my head and by looking at pictures of other machines, I wanted the idler to be higher and set back a little farther from the contact wheel than most that I looked at. I do a lot of slack belt work on the handles as well as use the slack belt to sharpen the knives so I set this one up with that in mind. I do have some 1x72 belts that I have tried on this machine and they work fine as well. I am making up some rough plans and will be happy to send them to anyone who is interested when I finish them. Mike ----------------------------------------- KandSKNIVES Guest Registered: Not Yet Location: Posts: N/A Re: Grinder Wheels Thanks Mike for the info, and yes I would definitely like some plans. You have built the almost same machine I had in my mind to start to build. I already have a big supply of 2/48 belts, got cheap, that is why I asked. Also, could you post more pics of your alignment control setup? Thanks for your time and effort. ----------------------------------------- Mike Conner Guest Registered: Not Yet Location: Posts: N/A Re: Very Nice I have had several emails asking me to post some more pictures of the tracking mechanism so here they are. Hope this helps.
©2012 CNA National Warranty Corporation 8407 (05/15) Tire-and-wheel protection you can count on You may not be able to avoid every bump in the road, but you can eliminate the possible expense of tire and wheel damage caused by a road hazard.
Vehicle Accessories • 6 Cd Changer • A/C • ABS • AM/FM Stereo • Adjustable Steering Wheel • Advanced Climate Control • Air Conditioner • Alloy Wheels • Aluminum Wheels • Anti Lock Braking System • Automatic On/Off Headlights • Auxiliary Audio Input • Bluetooth • Brake Assist • Bucket Seats • CD Changer • CD Player • Climate Control • Climate Controlled Seats With Cooling Function • Cruise Control • Curtain\Side Airbags • Daytime Running Lights • Driver Air Bag • Dual Front Zone Automatic Temp Control • Dual Zone Automatic Temp Control • Engine Immobilizer • Floor Mats • Front Reading Lamps • Front Side Airbags • Heated And Cooled Front Seats • Heated Front Seats • Heated Mirrors • Integrated Turn Signal Mirrors • Intermittent Wipers • Keyless Start • Leather Seats • Leather Steering Wheel • MP3 Player • Mirror Memory • Navigation System • Passenger Air Bag • Power Bucket Seats • Power Door Locks • Power Driver Bucket Seat • Power Driver Seat • Power Front Seat • Power Hatch • Power Locks • Power Passenger Seat • Power Seat W/Memory • Power Steering • Power Windows • Premium Sound System • Rear Parking Aid • Rear Sonar System • Rear Spoiler • Rearview Monitor • Satellite Radio • Side Airbags • Tire Pressure Monitor • Tires - Front Performance • Tires - Rear Performance • Traction Control • Trip Computer • Wood Trim Finishes • Xenon Headlamps Tire Information Manufacturer Size Depth Manufacturer Size Depth Left Front :
Removing Mk2Ph2 Steering wheel Guide for removing a Mk2 Ph2 Steering wheel, Pics of a 172 ph2 all you need is a flathead screwdriver and a T50 torx bit and ratchet.
Hi Jock, The bag with the lug nuts also has the order code for a replacement socket for the wheel locks in case it’s ever lost.
8-4PM #03 FACTORY MSRP • 2.0L I4 HEV Engine • Key-Ring Remote Start • E-CVT Auto Transmission • SmartGauge w/EcoGuide • AdvanceTrac w/RSC • 19” Aluminum Wheels • 10 Airbags/AirCurtains • Dual-Zone Climate Control • Driver’s Memory System • Leather/Heated Seats • Power Windows/Locks • Heated/Powerfold Mirrors • Cruise/Tilt/Telescoping • Stereo/CD/MP3/USB/SD • SYNC w/MyLincoln Touch w/Voice Activated System • 8” LCD Touch Screen • SiriusXM Satellite/Bluetooth • Reverse Sensing System w/Rear Vision Camera • Stock # 4600 $ $ 41,745 YOU PAY 37,445 Own It $0 Down $ OWNER LOYALTY PROGRAM COMPETITIVE CONQUEST BONUS CASH $ $ 1,250 OFF $ 395 SAVE $4,300 Net $4,300 Dealer Discount off MSRP $1,000 DOWN $0 DOWN 39 MONTH MO Off Factory MSRP 2,250 OFF LEASE 566 2.85% for 72 mo MO $ 367 $2,000 DOWN $ MO 341 MO Shown with optional features • 3.7L Ti-VCT V6 Engine • Key-Ring Remote Start • 6-Speed SelectShift • AdvanceTrac w/RSC • 20” Painted Wheels • 7 Airbags/AirCurtains • Dual-Zone Climate Control • Driver’s Memory System • Leather/Htd/Cooled Seats • Heated/Signal Mirrors • AM/FM Stereo/CD/USB/SD • SYNC w/MyLincoln Touch Voice-Activated System • 8” LCD Touch Screen • SiriusXM Satellite/Bluetooth • SOS Post-Crash Alert System • Blind Spot Monitoring • Lane Keeping System • Active Park Assist • F&R Sensing Systems w/Camera • Stock # 5446 FACTORY MSRP $ $ 46,510 YOU PAY OWNER LOYALTY PROGRAM 43,305 $ 1,500 OFF Own It $0 Down $ 655 COMPETITIVE CONQUEST BONUS CASH MO 2.85% for 72 mo $ SAVE $3,205 Off Factory MSRP Net $3,205 Dealer Discount off MSRP $0 DOWN 39 MONTH LEASE 1,500 OFF $ 473 MO $1,000 DOWN $ 446 MO $2,000 DOWN $ 419 MO Shown with optional features • 2.0L EcoBoost I-4 Turbo • Key-Ring Remote Start • 6-Speed Automatic • AdvanceTrac w/RSC • Class II Trailer Tow Package • 18” Premium Painted Wheels • 7 Airbags/AirCurtains • Dual-Zone Climate Control • Driver’s Memory System • Leather/Heated Seats • Power Windows/Locks • Heated Steering Wheel • Heated/Power Mirrors • Cruise/Tilt/Telescoping • Stereo/CD/MP3/USB/SD • SYNC w/MyLincoln Touch w/Voice Activated System • SiriusXM Satellite/Bluetooth • Reverse Sensing System w/Rear Vision Camera • Stock # 4585 FACTORY MSRP $ $ OWNER LOYALTY PROGRAM $ 1,000 OFF COMPETITIVE CONQUEST BONUS CASH $ Leases disclosure.
Second train driving wheel Second train wheel small plate Screw for second train driving wheel small plate Additional minute train bridge assembled Screw for additional minute train 1 2 3 4 5 Ref.
MULTISPORT WHEELCHAIR Seat Size 12” Colour Lime Green Weight Limit 12 Stone Wheel Size Rear wheel - 24” quick release, Front wheels 72mm Frame Material ERW mid steel tube Product Weight 13kg C A D F B A Chair Height 760mm B Chair Width 790mm E C Front Strut Width 320mm D Front Frame Height 530mm E Chair Depth 770mm F Rear Frame Height 470mm Seat Height 225mm Seat Width 300mm Seat Depth 300mm Foam Depth 50mm Adjustable Velcro strap 55mm Wheel Diameter 24” Lenco wheel with a ½” quick release axel Footrest Width 220mm Footrest Depth 200mm Adjustable Velcro strap 55mm Front Wheel diameter 72mm Castor wheels in extruded forks, strong, durable and easy to maintain.
16 Steering wheel - removal and installation 7..............
Vehicle Accessories • A/C • ABS • AM/FM Stereo • Adjustable Steering Wheel • Advanced Climate Control • Air Conditioner • Alloy Wheels • Aluminum Wheels • Anti Lock Braking System • Auxiliary Audio Input • Bluetooth • Bucket Seats • CD Changer • CD Player • Climate Control • Cruise Control • Daytime Running Lights • Driver Air Bag • Floor Mats • Heated Front Seats • Heated Mirrors • Integrated Turn Signal Mirrors • Intelligent Key • Intermittent Wipers • Leather Seats • Leather Seats (3rd Row Is Vinyl) • Leather Steering Wheel • MP3 Player • Navigation System • Passenger Air Bag • Power Bucket Seats • Power Door Locks • Power Driver Seat • Power Locks • Power Passenger Seat • Power Steering • Power Windows • Premium Sound System • Rear Parking Aid • Rear Sonar System • Rear Spoiler • Satellite Radio • Side Airbags • Sirius Satellite Radio • Tire Pressure Monitor • Tires - Front Performance • Tires - Rear Performance • Traction Control • Trip Computer • Vehicle Dynamic Control • Ventilated Leather Trimmed Net Seats • Wheel Locks • Xenon Headlamps • Xm Satellite Radio Tire Information Manufacturer Size Depth Manufacturer Size Depth Left Front :
Remote Start 6-Speed Manual Transmission 64F 641 GT Performance Package Wheel Finish Wheels, 18 inch Foundry Low-Gloss Paint/Machined Aluminum (EcoBoost, EcoBoost Premium, GT, GT Premium) Wheels, 19 inch Premium Painted Aluminum Wheel - (GT Premium) Wheels, 20 inch Bright Machined Aluminum Wheel (EcoBoost Premium, GT Premium) Spare Wheel and Tire - (V6, EcoBoost, EcoBoost Premium, GT, GT Premium) TRIM TYPE 3 S $ 25,355 30,005 27,557 32,562 37,613 35,363 40,313 45,308 1,650 $ 26,398 31,398 29,398 34,898 40,448 38,398 43,898 49,448 1,650 DEALER DEALER SUGGESTED INVOICE INVOICE RETAIL L/HOLDBACK W/HOLDBACK $0 880 0 0 1,760 0 0 1,760 $0 900 0 0 1,800 0 0 1,800 $0 1,000 0 0 2,000 0 0 2,000 DEALER DEALER SUGGESTED INVOICE INVOICE RETAIL L/HOLDBACK W/HOLDBACK $ 1,320 $ 1,350 $ 1,500 STD STD STD DEALER DEALER SUGGESTED INVOICE INVOICE RETAIL L/HOLDBACK W/HOLDBACK TIRES 66W DEALER DEALER SUGGESTED INVOICE INVOICE RETAIL L/HOLDBACK W/HOLDBACK $ 24,827 29,377 26,969 31,864 36,804 34,595 39,435 44,319 1,650 V6 Coupe V6 Convertible EcoBoost Coupe EcoBoost Premium Coupe EcoBoost Premium Convertible GT Coupe GT Premium Coupe GT Premium Convertible Destination and Delivery OPTION CODE 648 649 MODEL BASE VEHICLE PRICE $ 220 968 $ 225 990 $ 250 1,100 1,056 1,320 1,080 1,350 1,200 1,500 176 180 200 DEALER DEALER SUGGESTED INVOICE INVOICE RETAIL L/HOLDBACK W/HOLDBACK SEATS Recaro Cloth Sport Seats - (EcoBoost, GT) Recaro Leather Sport Seats Manual Adjustment - (EcoBoost Premium, GT Premium Coupe only) $ 1,320 1,584 $ 1,350 1,620 $ 1,500 1,800 *NOTE: