The dynamics of a vehicle whose three omniwheels are symmetrically arranged is considered in the case when the vehicle moves on a horizontal plane. Two wheels are parallel to each other, whereas the third one is perpendicular to them; the centers of the wheels are located at the vertices of an isosceles triangle. A phase portrait is constructed under the assumption that there are no external actions (except for gravity). The stability conditions for uniform rectilinear motions are compared with the Chaplygin sleigh model. The stability and bifurcation of steady motions are discussed in the case of constant control.
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Original Russian Text © A.A. Zobova, Ya.V. Tatarinov, 2008, published in Vestnik Moskovskogo Universiteta, Matematika. Mekhanika, 2008, Vol. 63, No. 6, pp. 61–65.
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Zobova, A.A., Tatarinov, Y.V. Free and controlled motions of an omniwheel vehicle. Moscow Univ. Mech. Bull. 63, 146–150 (2008). https://doi.org/10.3103/S0027133008060034