Turning dynamics and equilibrium of two-wheeled vehicles

Article

Abstract

The equations of motion of two-wheeled vehicles, e g bicycles or motorcycles, are developed by using Lagrange’s equations for quasi-coord mates The pure rolling constiatnts between the ground and the two wheels aie considered in the dynamical equations of the system For each wheel, two nonholonomic and two holonomic constraints are introduced in a set of differential-algebraic equations (DAE) The constraint Jacobian matrix is obtained by collecting all the constraint equations and converting them into the velocity form Equilibrium, an algorithm for searching for equilibrium points of two-wheeled vehicles and the associated problems are discussed Formulae foi calculating the radii of curvatures of ground-wheel contact paths and the reference point are also given

Key Words

Bicycle Dynamics Two-Wheeled Vehicle Nonholonomic Constraint Multibody 

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Copyright information

© The Korean Society of Mechanical Engineers (KSME) 2005

Authors and Affiliations

  1. 1.Department of Mechanical and Automation EngineeringDa-Yeh UniversityChanghuaTaiwan

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