Kinematics of a bicycle with toroidal wheels

被引：8
|
作者：
Frosali, Giovanni [1 ]
Ricci, Francesco [1 ]
机构：
[1] Univ Florence, Dipartimento Sistemi & Informat, Florence, Italy
来源：
COMMUNICATIONS IN APPLIED AND INDUSTRIAL MATHEMATICS | 2012年 / 3卷 / 01期
关键词：
Bicycle geometry; kinematics; nonholonomic constraints;
D O I：
10.1685/journal.caim.424
中图分类号：
O1 [数学];
学科分类号：
0701 ; 070101 ;
摘要：
In this paper we revise both the geometry and the kinematics of a bicycle with toroidal wheels. Then we study the nonholonomic constraints on the velocities of the two contact points. We identify the parameters which characterize the bicycle and study the nonlinear relations, which arise from the nonholonomic constrains, in detail. Finally, proper nonlinear functions are defined for expressing these relations in a manageable way.
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页数：24
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