MATEC Web Conf.
Volume 309, 20202019 International Conference on Computer Science Communication and Network Security (CSCNS2019)
|Number of page(s)||12|
|Section||Modelling and Simulation|
|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: firstname.lastname@example.org
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
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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