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

Type of Document Master's Thesis
Author Abbott, Michael Shawn
Author's Email Address mabbott@keytechinc.com
URN etd-04132000-14590026
Title Kinematics, Dynamics and Control of Single-Axle, Two-Wheel Vehicles (Biplanar Bicycles)
Degree Master of Science
Department Mechanical Engineering
Advisory Committee
Advisor Name Title
Dr. Charles F. Reinholtz Committee Chair
Dr. D. J. Leo Committee Member
Dr. H. H. Robertshaw Committee Member
Keywords

* Vehicle
* Dynamics
* Control
* Two-Wheel

Date of Defense 2000-04-11
Availability unrestricted
Abstract

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.

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