Find degree of maneuverability deltaM degree of mobility del

Find degree of maneuverability delta_M, degree of mobility delta_m, and degree of steerability delta_s for the robot shown below. Note that you do not have to do any calculations for this question. You can solve it intuitively with supporting equations. Explain your answer clearly. Do NOT just write numbers without explanations, you will get 0 credits!

Solution

1.) Degree of Steerability:- Since there are two mutually independent centre orientable wheels i.e- steerable standard wheel and castor wheel, so degree of steerability is 2

2.) Degree of Mobility:- Since the castor wheel can move freely so degree of mobility is 0.

3.) So Degree of Maneuverability is Degree of Steerability + Degree of Mobility

= 2 + 0

=2