Dynamic Modeling of a Bicycle Robot with Front-Wheel Drive Based on Kane’s Method

摘要：

This paper highlights dynamic modeling of a front- wheel drive bicycle robot by using Kane’s method. At first, the unique structure of the proposed bicycle robot was introduced. Then, kinematics of the robot was discussed under the pure rolling presupposition of the two road wheels. The kinematics analysis reveals the nonholonomic constraints in the system. Next, dynamic model of the bicycle robot was derived with the consi- deration of uneven mass distribution in the system. Finally, numerical simulations of the bicycle’s running behavior were implemented in MATLAB to examine the efficiency of the derived model. Simulations results show the model is basically in agreement with the real working condition of the bicycle robot. The work in this paper is the basis for realizing stable running of the bicycle robot in the future.

关键词： Bicycle robot Front-wheel Drive Dynamic modeling Kane’s method

作者: Yonghua Huang Qizheng Liao Shimin Wei Lei Guo

作者单位: School of Automation Beijing University of Posts and Telecommunications Beijing 100876,China

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-7

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）