Simulation model for studying inherent stability characteristics of autonomous bicycle

2010 International Conference on Artificial Intelligence and Computational Intelligence

2010

Aiming at the dynamics of a front-wheel drive bicycle, a precise and effective mathematical model was constructed by use of Kane dynamics equations in form of screw theory in this paper. Firstly, partial velocity matrixes were achieved by recursion derivation of velocities and angular velocities of links. Then, dynamical model was developed according to the derived partial velocity matrixes. And finally, numerical simulation about the developed dynamics was carried out to analyze the dynamical characteristics of the robot. The results show that the analyses are in correspondence with the real working condition of the bicycle robot, which verifies the derived dynamical model reliably.

“…For example, the first three 1 X , 2 X and 3 X are specified by the right-hand side of (14), that is,…”

Section: Dynamics Of the Bicycle Robot With Front-wheel Drivementioning

confidence: 99%

“…Perform numerical integration of 5 ( ) q k to evaluate 5 ( 1) q k + , and then perform numerical integration of ( ) i q k ( 1,3,5) i = to find ( 1) i q k + . Step 6.…”

Section: Numerical Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Research on Dynamics of a Bicycle Robot with Front-Wheel Drive by Using Kane Equations Based on Screw Theory

2010 International Conference on Artificial Intelligence and Computational Intelligence

2010

“…Franke et al [3] derived non-linear equations of motion of a rigid-rider bicycle system by use of classic Newtonian mechanics. Recently, Sharma et al [4] [5] developed a generalized bicycle dynamic model with Lagrange-Euler Formulation. Y. Tanaka [6] derived dynamics of a bicycle robot from equilibrium of gravity and centrifugal force.…”

Section: Introductionmentioning

confidence: 99%

Stable-Balancing Motion Analysis of a Bicycle Robot with Front-Wheel Drive Based on Moment Balance

2010 International Conference on Intelligent Computation Technology and Automation

2010

Aim at a kind of bicycle robot with front-wheel drive, stable-balancing motion is analyzed based on moment balance of inertial force and gravity in this paper. Kinematics of the robot is derived under presupposition of rolling without sliding of the two road wheels. Kinematics analysis revealed that, there are only three independent generalized speeds in the system, which can be one of the Euler Angular rates of the frame, joint angular velocity of front-fork and joint angular velocity of front-wheel. It also indicates that the robot is an under-actuated system, which holds an under-actuated degree of freedom. Dynamics of the robot is discussed by considering the equilibrium of gravity and inertial force. The model shows that the bicycle can realize stable-balancing motion under proper steering angle and driving angular velocity of frontwheel. Numerical simulations with different running situation of the robot are performed in MATLAB to analyze stablebalancing motion of the robot. The work in this paper is important to realize stable running of the bicycle robot in the future research.

“…Franke et al [3] derived non-linear equations of motion of a rigid-rider bicycle system by use of classic Newtonian mechanics. Recently, Sharma et al [4] [5] deduced a generalized bicycle dynamic model with Lagrange-Euler Formulation. K.Astrom et al [6] analyzes various orders of approximate dynamics of bicycles from the perspective of control.…”

mentioning

confidence: 99%

Modeling and analyzing of stable equilibrium motion of a bicycle robot with front-wheel drive by using moment balance

2010 IEEE International Conference on Mechatronics and Automation

2010

Bicycle robot have two points contacting with its support plane, and the connecting line between these two point can be dealt with equilibrium axis when the bicycle perform regular motions. In this paper, we discuses stable equilibrium motion of a front-wheel drive bicycle robot by use of moment balance of inertial forces and gravities. Firstly, under the presupposition of rolling without sliding, recursion forms of velocities and accelerations of the robot are derived with generalized speeds. The derivations reveal there are three nonholonomic velocity constraints in the system. Secondly, stable equilibrium motion mathematical model is established by fully considering moment balance of gravities and inertial forces of the robot. The model indicates the robot system holds one under-actuated degree of freedom. Thirdly, virtual prototype is constructed in ADAMS and balancing motion is performed to validate the proposed model. And finally, numerical simulations are carried out in MATLAB to analyze stable equilibrium motion of the robot under different situations. The result shows that the bicycle robot can realize stable equilibrium motion with proper steering angle and driving angular velocity of front-wheel.