Issue |
MATEC Web Conf.
Volume 309, 2020
2019 International Conference on Computer Science Communication and Network Security (CSCNS2019)
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Article Number | 05002 | |
Number of page(s) | 12 | |
Section | Modelling and Simulation | |
DOI | https://doi.org/10.1051/matecconf/202030905002 | |
Published online | 04 March 2020 |
Dynamical model of a new type of self-balancing tractor-trailer-bicycle
School of Mechanical and Electrical Engineering, Guilin University of Electronic Technology, Guilin, China 541004
* Corresponding author: huangyonghuaxj@sina.com
In this paper, we focused on a Self-Balancing Tractor-Trailer-Bicycle(TTB) and developed an under-actuated dynamical model for the system. The bicycle is characterized with two parts, that is a tractor and a trailer, and considering the nonholonomic constrains from no-slipping contacts of its three wheels and the flat ground, we presented a dynamical model for the bicycle by using Chaplygin equation. The model suggest that the TTB should be an under-actuated system with three DOF (degree of freedom) and there are two driving-torque inputs. An inverse dynamics and a virtual prototype simulations are given to demonstrate the correctness of the proposed dynamical model.
Key words: Self-balancing tractor-trailer-bicycle / Dynamical model / Chaplygin equation
© The Authors, published by EDP Sciences, 2020
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