Kinematics, Dynamics and Control of Single-Axle, Two-Wheel Vehicles (Biplanar Bicycles)

A two-wheeled, single-axle, differentially driven vehicle possesses many salient advantages when compared to traditional vehicle designs. In particular, high traction factor, zero turn radius, and inherent static and dynamic stability are characteristics of this configuration. Drive torque is provided via a swinging reaction mass hanging below the axle. While mechanically simple, the resulting nonlinear vehicle dynamics can be quite complex. Additional design challenges arise if non-pendulating platforms or hardware mounts are required. Ultimately, this vehicle class has great potential in autonomous robotic applications such as mine clearance, planetary exploration, and autonomous remote inspection. This thesis discusses the kinematic and dynamic analyses of this vehicle class and develops design tools including performance envelopes and control strategies. Further, it confronts the stable platform problem and provides one solution while suggesting alternative design concepts for other applications.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Mechanical Engineering

Department dc:contributor.department

Mechanical Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2000

Author dc:creator

• Abbott, Michael Shawn

Chair dc:contributor.committeechair

• Reinholtz, Charles F.

Committee members dc:contributor.committeemember

• Robertshaw, Harry H.
• Leo, Donald J.

• Vehicle
• Dynamics
• Control
• Two-Wheel

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Dc Identifier Other

etd-04132000-14590026

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/31702