Symbolic derivation of bicycle kinematics with toroidal wheels
Bicycle kinematics with toroidal wheels is presented in this paper. Using symbolic mathematic tool Maple, we obtain two holonomic and four nonholonomic constraint equations due to front and rear wheels of a bicycle. We show that the two holonomic constraints cannot be expressed in quartic form for b...
| Main Authors: | , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
EDP Sciences
2015-01-01
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| Series: | MATEC Web of Conferences |
| Online Access: | http://dx.doi.org/10.1051/matecconf/20153404001 |
| _version_ | 1818646054888800256 |
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| author | Wang Everett X. Zou Juncheng Xue Gengping Yuan Lin Zeng Zhaoheng Xue Gengfeng Liu Yijun Zhang Gary Fan Qun |
| author_facet | Wang Everett X. Zou Juncheng Xue Gengping Yuan Lin Zeng Zhaoheng Xue Gengfeng Liu Yijun Zhang Gary Fan Qun |
| author_sort | Wang Everett X. |
| collection | DOAJ |
| description | Bicycle kinematics with toroidal wheels is presented in this paper. Using symbolic mathematic tool Maple, we obtain two holonomic and four nonholonomic constraint equations due to front and rear wheels of a bicycle. We show that the two holonomic constraints cannot be expressed in quartic form for bicycle rear body pitch angle unless the minor (crown) radius of the torus are the same for both the front and rear wheels. In addition, we show that all the constraints can be written in differential form, from which a constraint matrix is constructed, according to standard procedure for developing dynamics in robotics. |
| first_indexed | 2024-12-17T00:40:33Z |
| format | Article |
| id | doaj.art-a40744cdd4ef4ad4aad96bae6a833941 |
| institution | Directory Open Access Journal |
| issn | 2261-236X |
| language | English |
| last_indexed | 2024-12-17T00:40:33Z |
| publishDate | 2015-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | MATEC Web of Conferences |
| spelling | doaj.art-a40744cdd4ef4ad4aad96bae6a8339412022-12-21T22:10:01ZengEDP SciencesMATEC Web of Conferences2261-236X2015-01-01340400110.1051/matecconf/20153404001matecconf_icmme2015_04001Symbolic derivation of bicycle kinematics with toroidal wheelsWang Everett X.0Zou Juncheng1Xue Gengping2Yuan Lin3Zeng Zhaoheng4Xue Gengfeng5Liu Yijun6Zhang Gary7Fan Qun8Guangdong University of Technology, Guangzhou HEMC, Panyu DistrictGuangdong University of Technology, Guangzhou HEMC, Panyu DistrictGuangdong University of Technology, Guangzhou HEMC, Panyu DistrictGuangdong University of Technology, Guangzhou HEMC, Panyu DistrictGuangdong University of Technology, Guangzhou HEMC, Panyu DistrictGuangdong University of Technology, Guangzhou HEMC, Panyu DistrictGuangdong University of Technology, Guangzhou HEMC, Panyu DistrictGuangdong University of Technology, Guangzhou HEMC, Panyu DistrictGuangdong University of Technology, Guangzhou HEMC, Panyu DistrictBicycle kinematics with toroidal wheels is presented in this paper. Using symbolic mathematic tool Maple, we obtain two holonomic and four nonholonomic constraint equations due to front and rear wheels of a bicycle. We show that the two holonomic constraints cannot be expressed in quartic form for bicycle rear body pitch angle unless the minor (crown) radius of the torus are the same for both the front and rear wheels. In addition, we show that all the constraints can be written in differential form, from which a constraint matrix is constructed, according to standard procedure for developing dynamics in robotics.http://dx.doi.org/10.1051/matecconf/20153404001 |
| spellingShingle | Wang Everett X. Zou Juncheng Xue Gengping Yuan Lin Zeng Zhaoheng Xue Gengfeng Liu Yijun Zhang Gary Fan Qun Symbolic derivation of bicycle kinematics with toroidal wheels MATEC Web of Conferences |
| title | Symbolic derivation of bicycle kinematics with toroidal wheels |
| title_full | Symbolic derivation of bicycle kinematics with toroidal wheels |
| title_fullStr | Symbolic derivation of bicycle kinematics with toroidal wheels |
| title_full_unstemmed | Symbolic derivation of bicycle kinematics with toroidal wheels |
| title_short | Symbolic derivation of bicycle kinematics with toroidal wheels |
| title_sort | symbolic derivation of bicycle kinematics with toroidal wheels |
| url | http://dx.doi.org/10.1051/matecconf/20153404001 |
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