Dynamics Modeling of an Unmanned Bicycle with Parallel Mechanism Adjusting Stability

摘要

An Unmanned bicycle stability adjusting mode by use of parallel mechanism is presented, and dynamics model of the unmanned bicycle with parallel mechanism adjusting stability is upbuilt in this paper. In order to increase stability and mobility, and carrying capability, the unmanned bicycle is controlled by a pedalling torque, a directional torque that generated using the steer adjustment, and by a tilting torque that generated using a 2-RHR parallel mechanism mounted on the crossbar, and then considering effects of all components of the unmanned bicycle, and according to rolling without slipping condition on two wheels on the ground, the kinematic constraints and dynamics equations of the unmanned bicycle are set up more fully and clearly than any of the existing models.