Files
thf/updates/cultivator_kinematics.svg
Thaddeus Hughes 4452cf9046 Initial commit
2025-08-23 20:36:12 -05:00

467 lines
19 KiB
XML

<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Created with Inkscape (http://www.inkscape.org/) -->
<svg
width="2in"
height="3in"
viewBox="0 0 50.8 76.2"
version="1.1"
id="svg5"
inkscape:version="1.2.2 (b0a8486541, 2022-12-01)"
sodipodi:docname="cultivator_kinematics.svg"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns="http://www.w3.org/2000/svg"
xmlns:svg="http://www.w3.org/2000/svg">
<sodipodi:namedview
id="namedview7"
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1.0"
inkscape:showpageshadow="2"
inkscape:pageopacity="0.0"
inkscape:pagecheckerboard="0"
inkscape:deskcolor="#d1d1d1"
inkscape:document-units="mm"
showgrid="false"
inkscape:zoom="3.3638608"
inkscape:cx="85.913186"
inkscape:cy="144.62548"
inkscape:window-width="1772"
inkscape:window-height="1400"
inkscape:window-x="10"
inkscape:window-y="30"
inkscape:window-maximized="1"
inkscape:current-layer="g4735" />
<defs
id="defs2">
<marker
style="overflow:visible"
id="marker2522"
refX="0"
refY="0"
orient="auto-start-reverse"
inkscape:stockid="TriangleStart"
markerWidth="1.2975"
markerHeight="1.5"
viewBox="0 0 5.3244081 6.1553851"
inkscape:isstock="true"
inkscape:collect="always"
preserveAspectRatio="xMidYMid"
markerUnits="userSpaceOnUse">
<path
transform="scale(0.5)"
style="fill:context-stroke;fill-rule:evenodd;stroke:context-stroke;stroke-width:1pt"
d="M 5.77,0 -2.88,5 V -5 Z"
id="path2520" />
</marker>
<marker
style="overflow:visible"
id="TriangleStart"
refX="0"
refY="0"
orient="auto-start-reverse"
inkscape:stockid="TriangleStart"
markerWidth="1.2975"
markerHeight="1.5"
viewBox="0 0 5.3244081 6.1553851"
inkscape:isstock="true"
inkscape:collect="always"
preserveAspectRatio="xMidYMid"
markerUnits="userSpaceOnUse">
<path
transform="scale(0.5)"
style="fill:context-stroke;fill-rule:evenodd;stroke:context-stroke;stroke-width:1pt"
d="M 5.77,0 -2.88,5 V -5 Z"
id="path135" />
</marker>
<marker
style="overflow:visible"
id="TriangleStart-1"
refX="0"
refY="0"
orient="auto-start-reverse"
inkscape:stockid="TriangleStart"
markerWidth="1.2975"
markerHeight="1.5"
viewBox="0 0 5.3244081 6.1553851"
inkscape:isstock="true"
inkscape:collect="always"
preserveAspectRatio="xMidYMid"
markerUnits="userSpaceOnUse">
<path
transform="scale(0.5)"
style="fill:context-stroke;fill-rule:evenodd;stroke:context-stroke;stroke-width:1pt"
d="M 5.77,0 -2.88,5 V -5 Z"
id="path135-2" />
</marker>
<marker
style="overflow:visible"
id="TriangleStart-1-0"
refX="0"
refY="0"
orient="auto-start-reverse"
inkscape:stockid="TriangleStart"
markerWidth="1.2975"
markerHeight="1.5"
viewBox="0 0 5.3244081 6.1553851"
inkscape:isstock="true"
inkscape:collect="always"
preserveAspectRatio="xMidYMid"
markerUnits="userSpaceOnUse">
<path
transform="scale(0.5)"
style="fill:context-stroke;fill-rule:evenodd;stroke:context-stroke;stroke-width:1pt"
d="M 5.77,0 -2.88,5 V -5 Z"
id="path135-2-9" />
</marker>
<marker
style="overflow:visible"
id="marker2522-0"
refX="0"
refY="0"
orient="auto-start-reverse"
inkscape:stockid="TriangleStart"
markerWidth="1.2975"
markerHeight="1.5"
viewBox="0 0 5.3244081 6.1553851"
inkscape:isstock="true"
inkscape:collect="always"
preserveAspectRatio="xMidYMid"
markerUnits="userSpaceOnUse">
<path
transform="scale(0.5)"
style="fill:context-stroke;fill-rule:evenodd;stroke:context-stroke;stroke-width:1pt"
d="M 5.77,0 -2.88,5 V -5 Z"
id="path2520-2" />
</marker>
<marker
style="overflow:visible"
id="TriangleStart-1-0-3"
refX="0"
refY="0"
orient="auto-start-reverse"
inkscape:stockid="TriangleStart"
markerWidth="1.2975"
markerHeight="1.5"
viewBox="0 0 5.3244081 6.1553851"
inkscape:isstock="true"
inkscape:collect="always"
preserveAspectRatio="xMidYMid"
markerUnits="userSpaceOnUse">
<path
transform="scale(0.5)"
style="fill:context-stroke;fill-rule:evenodd;stroke:context-stroke;stroke-width:1pt"
d="M 5.77,0 -2.88,5 V -5 Z"
id="path135-2-9-7" />
</marker>
<marker
style="overflow:visible"
id="TriangleStart-1-0-9"
refX="0"
refY="0"
orient="auto-start-reverse"
inkscape:stockid="TriangleStart"
markerWidth="1.2975"
markerHeight="1.5"
viewBox="0 0 5.3244081 6.1553851"
inkscape:isstock="true"
inkscape:collect="always"
preserveAspectRatio="xMidYMid"
markerUnits="userSpaceOnUse">
<path
transform="scale(0.5)"
style="fill:context-stroke;fill-rule:evenodd;stroke:context-stroke;stroke-width:1pt"
d="M 5.77,0 -2.88,5 V -5 Z"
id="path135-2-9-73" />
</marker>
<marker
style="overflow:visible"
id="TriangleStart-1-0-9-1"
refX="0"
refY="0"
orient="auto-start-reverse"
inkscape:stockid="TriangleStart"
markerWidth="1.2975"
markerHeight="1.5"
viewBox="0 0 5.3244081 6.1553851"
inkscape:isstock="true"
inkscape:collect="always"
preserveAspectRatio="xMidYMid"
markerUnits="userSpaceOnUse">
<path
transform="scale(0.5)"
style="fill:context-stroke;fill-rule:evenodd;stroke:context-stroke;stroke-width:1pt"
d="M 5.77,0 -2.88,5 V -5 Z"
id="path135-2-9-73-2" />
</marker>
<marker
style="overflow:visible"
id="marker2522-0-2"
refX="0"
refY="0"
orient="auto-start-reverse"
inkscape:stockid="TriangleStart"
markerWidth="1.2975"
markerHeight="1.5"
viewBox="0 0 5.3244081 6.1553851"
inkscape:isstock="true"
inkscape:collect="always"
preserveAspectRatio="xMidYMid"
markerUnits="userSpaceOnUse">
<path
transform="scale(0.5)"
style="fill:context-stroke;fill-rule:evenodd;stroke:context-stroke;stroke-width:1pt"
d="M 5.77,0 -2.88,5 V -5 Z"
id="path2520-2-1" />
</marker>
<marker
style="overflow:visible"
id="TriangleStart-1-0-3-7"
refX="0"
refY="0"
orient="auto-start-reverse"
inkscape:stockid="TriangleStart"
markerWidth="1.2975"
markerHeight="1.5"
viewBox="0 0 5.3244081 6.1553851"
inkscape:isstock="true"
inkscape:collect="always"
preserveAspectRatio="xMidYMid"
markerUnits="userSpaceOnUse">
<path
transform="scale(0.5)"
style="fill:context-stroke;fill-rule:evenodd;stroke:context-stroke;stroke-width:1pt"
d="M 5.77,0 -2.88,5 V -5 Z"
id="path135-2-9-7-9" />
</marker>
<marker
style="overflow:visible"
id="marker2522-5"
refX="0"
refY="0"
orient="auto-start-reverse"
inkscape:stockid="TriangleStart"
markerWidth="1.2975"
markerHeight="1.5"
viewBox="0 0 5.3244081 6.1553851"
inkscape:isstock="true"
inkscape:collect="always"
preserveAspectRatio="xMidYMid"
markerUnits="userSpaceOnUse">
<path
transform="scale(0.5)"
style="fill:context-stroke;fill-rule:evenodd;stroke:context-stroke;stroke-width:1pt"
d="M 5.77,0 -2.88,5 V -5 Z"
id="path2520-5" />
</marker>
<marker
style="overflow:visible"
id="TriangleStart-1-0-2"
refX="0"
refY="0"
orient="auto-start-reverse"
inkscape:stockid="TriangleStart"
markerWidth="1.2975"
markerHeight="1.5"
viewBox="0 0 5.3244081 6.1553851"
inkscape:isstock="true"
inkscape:collect="always"
preserveAspectRatio="xMidYMid"
markerUnits="userSpaceOnUse">
<path
transform="scale(0.5)"
style="fill:context-stroke;fill-rule:evenodd;stroke:context-stroke;stroke-width:1pt"
d="M 5.77,0 -2.88,5 V -5 Z"
id="path135-2-9-1" />
</marker>
</defs>
<g
inkscape:label="Layer 1"
inkscape:groupmode="layer"
id="layer1"
transform="translate(-71.899075,-51.798763)">
<g
id="g4735"
transform="translate(4.5717267,5.0217739)">
<rect
style="fill:#4d4d4d;fill-opacity:1;stroke:#000000;stroke-width:0.352778;stroke-dasharray:none;stroke-opacity:1;stop-color:#000000"
id="rect234"
width="19.049999"
height="12.7"
x="-70.405464"
y="86.970169"
transform="matrix(-0.96592583,0.25881905,0.25881905,0.96592583,0,0)" />
<rect
style="fill:#4d4d4d;fill-opacity:1;stroke:#000000;stroke-width:0.352778;stroke-dasharray:none;stroke-opacity:1;stop-color:#000000"
id="rect234-3"
width="19.049999"
height="12.7"
x="132.44125"
y="35.761208"
transform="rotate(30)" />
<rect
style="fill:#80b3ff;fill-opacity:1;stroke:#000000;stroke-width:0.352778;stroke-dasharray:none;stroke-opacity:1;stop-color:#000000"
id="rect234-6"
width="44.450001"
height="6.3499999"
x="102.51961"
y="-37.651379"
rx="3.175"
ry="3.175"
transform="rotate(60)" />
<circle
style="fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:0.705556;stroke-dasharray:none;stroke-opacity:1;stop-color:#000000"
id="path1328"
cx="82.959053"
cy="74.383339"
r="0.50800002" />
<circle
style="fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:0.705556;stroke-dasharray:none;stroke-opacity:1;stop-color:#000000"
id="path1328-5"
cx="101.89078"
cy="107.4525"
r="0.50800002" />
<circle
style="fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:0.705556;stroke-dasharray:none;stroke-opacity:1;stop-color:#000000"
id="path1328-3"
cx="92.229721"
cy="90.509811"
r="0.50800002" />
<path
style="fill:none;stroke:#000000;stroke-width:0.352778;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:0.705557, 0.352778;stroke-dashoffset:0;stroke-opacity:1"
d="M 82.959053,70.77456 V 53.255076"
id="path1471" />
<path
style="fill:none;stroke:#000000;stroke-width:0.352777;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:0.705557, 0.352777;stroke-dashoffset:0;stroke-opacity:1"
d="M 101.89077,99.258751 V 53.358219"
id="path1471-2" />
<path
style="fill:none;stroke:#000000;stroke-width:0.352778;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:0.705554, 0.352778;stroke-dashoffset:0;stroke-opacity:1"
d="M 109.95297,121.37421 71.864305,55.532094"
id="path1471-2-9"
sodipodi:nodetypes="cc" />
<path
style="fill:none;stroke:#000000;stroke-width:0.352777;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:0.705554, 0.352777;stroke-dashoffset:0;stroke-opacity:1"
d="M 92.229724,88.842792 V 66.016766"
id="path1471-5" />
<path
style="fill:none;stroke:#000000;stroke-width:0.352777;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:0.705554, 0.352777;stroke-dashoffset:0;stroke-opacity:1"
d="M 81.840601,70.738017 77.398927,54.049709"
id="path1471-5-8" />
<path
style="fill:none;stroke:#000000;stroke-width:0.352777;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:0.705554, 0.352777;stroke-dashoffset:0;stroke-opacity:1"
d="m 104.26007,104.25904 8.60958,-14.970073"
id="path1471-5-8-2" />
<path
style="fill:none;stroke:#000000;stroke-width:0.352777;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:0.705555, 0.352777;stroke-dashoffset:0;stroke-opacity:1"
d="M 94.158425,121.12874 100.1165,110.71892"
id="path1471-5-8-2-6" />
<path
style="fill:none;stroke:#000000;stroke-width:0.352778;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#TriangleStart)"
d="m 82.959369,85.975648 c 1.022512,-2.04502 3.224845,-3.067532 3.224845,-3.067532"
id="path1657" />
<path
style="fill:none;stroke:#000000;stroke-width:0.352778;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#TriangleStart-1)"
d="m 97.939254,82.833599 c -1.77623,-1.439664 -4.20426,-1.460648 -4.20426,-1.460648"
id="path1657-7" />
<path
style="fill:none;stroke:#000000;stroke-width:0.352778;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:none;stroke-opacity:1;marker-start:url(#marker2522);marker-end:url(#TriangleStart-1-0)"
d="m 79.187906,56.652046 c 1.122727,-0.786161 2.59136,-0.654198 2.59136,-0.654198"
id="path1657-7-3"
sodipodi:nodetypes="cc" />
<path
style="fill:none;stroke:#000000;stroke-width:0.352778;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:none;stroke-opacity:1;marker-start:url(#marker2522-5);marker-end:url(#TriangleStart-1-0-2)"
d="m 74.135237,57.00192 c 1.122727,-0.786161 2.59136,-0.654198 2.59136,-0.654198"
id="path1657-7-3-59"
sodipodi:nodetypes="cc" />
<path
style="fill:none;stroke:#000000;stroke-width:0.352778;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#TriangleStart-1-0-9)"
d="m 94.406594,59.503347 5.949096,0.01321"
id="path1657-7-3-6"
sodipodi:nodetypes="cc" />
<path
style="fill:none;stroke:#000000;stroke-width:0.352778;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#TriangleStart-1-0-9-1)"
d="m 90.563441,59.442956 -6.186446,0.01321"
id="path1657-7-3-6-9"
sodipodi:nodetypes="cc" />
<path
style="fill:none;stroke:#000000;stroke-width:0.352778;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:none;stroke-opacity:1;marker-start:url(#marker2522-0);marker-end:url(#TriangleStart-1-0-3)"
d="m 103.12346,94.395545 c 2.6657,-0.110517 4.55696,1.538159 4.55696,1.538159"
id="path1657-7-3-5"
sodipodi:nodetypes="cc" />
<path
style="fill:none;stroke:#000000;stroke-width:0.352778;stroke-linecap:butt;stroke-linejoin:miter;stroke-dasharray:none;stroke-opacity:1;marker-start:url(#marker2522-0-2);marker-end:url(#TriangleStart-1-0-3-7)"
d="m 107.26762,119.16343 c -4.58413,3.23399 -9.919932,-0.48468 -9.919932,-0.48468"
id="path1657-7-3-5-5"
sodipodi:nodetypes="cc" />
<text
xml:space="preserve"
style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;line-height:1.25;font-family:Arial;-inkscape-font-specification:Arial;stroke-width:0.264583"
x="98.381294"
y="84.033501"
id="text2204"><tspan
sodipodi:role="line"
id="tspan2202"
style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;font-family:Arial;-inkscape-font-specification:Arial;stroke-width:0.264583"
x="98.381294"
y="84.033501">a</tspan></text>
<text
xml:space="preserve"
style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;line-height:1.25;font-family:Arial;-inkscape-font-specification:Arial;stroke-width:0.264583"
x="90.941055"
y="60.303467"
id="text2204-9"><tspan
sodipodi:role="line"
id="tspan2202-2"
style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;font-family:Arial;-inkscape-font-specification:Arial;stroke-width:0.264583"
x="90.941055"
y="60.303467">w</tspan></text>
<text
xml:space="preserve"
style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;line-height:1.25;font-family:Arial;-inkscape-font-specification:Arial;stroke-width:0.264583"
x="79.60759"
y="54.638683"
id="text2204-7"><tspan
sodipodi:role="line"
id="tspan2202-9"
style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;font-family:Arial;-inkscape-font-specification:Arial;stroke-width:0.264583"
x="79.60759"
y="54.638683">f</tspan></text>
<text
xml:space="preserve"
style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;line-height:1.25;font-family:Arial;-inkscape-font-specification:Arial;stroke-width:0.264583"
x="105.4325"
y="92.285378"
id="text2811"><tspan
sodipodi:role="line"
id="tspan2809"
style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;font-family:Arial;-inkscape-font-specification:Arial;stroke-width:0.264583"
x="105.4325"
y="92.285378">r</tspan></text>
<text
xml:space="preserve"
style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;line-height:1.25;font-family:Arial;-inkscape-font-specification:Arial;stroke-width:0.264583"
x="73.32579"
y="54.748158"
id="text2811-8"><tspan
sodipodi:role="line"
id="tspan2809-9"
style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;font-family:Arial;-inkscape-font-specification:Arial;stroke-width:0.264583"
x="73.32579"
y="54.748158">b</tspan></text>
<text
xml:space="preserve"
style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;line-height:1.25;font-family:Arial;-inkscape-font-specification:Arial;stroke-width:0.264583"
x="100.89584"
y="119.35575"
id="text2811-8-9"><tspan
sodipodi:role="line"
id="tspan2809-9-1"
style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;font-family:Arial;-inkscape-font-specification:Arial;stroke-width:0.264583"
x="100.89584"
y="119.35575">c</tspan></text>
</g>
</g>
</svg>