Consideration for maneuverability of wheeled vehicles from the concepts of constraint: Degrees of geometrical, kinematical, and maneuverable freedom of a vehicle
1990
Torisu, R. (Iwate Univ., Morioka (Japan). Faculty of Agriculture) | Banno, T.
This article deals with the handling behavior of wheeled vehicles from analytical mechanics perspective. The motion of a wheeled vehicle at low speed on level ground is determined by numbers of wheels and their geometrical configurations. Introducing a simplified rigid disk model, plane motions of a vertical wheel rolling without slipping are expressed by two nonholonomic constraints. As steering systems of wheeled vehicles are constructed by single or more than one wheel, the principle of steering geometry for any kind of vehicle is explained by the kinematical characteristics of these two equations. Heading angles of steered wheels of a steering system play an important role in the degree of kinematical freedom. Any vehicle has its own numbers of the geometrical, kinematical and maneuverable degrees of freedom. Maneuverability of wheeled vehicles is explained and classified from three degrees of freedom of single wheel model and numbers of steered wheels involved
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