摘要
利用溜冰原理,设计了腿轮混合结构的溜冰车(ISV)。在简要介绍其滑行原理的同时,建立了其转弯滑行时的运动坐标系和运动约束方程,在非完整动力学系统分析的基础上,提出一种简化的Routh方程,并利用简化的Routh方程具体分析了其转弯滑行时的动力学性能,给出实际算例并进行了计算机仿真。最后,得出了相关结论。
This paper presents a new leg-wheeled Ice-Skater Vehicle(ISV)which is subject to nonholomonic constraints on the basis of ice-skating principle.When one narrates briefly its skating principle,the paper founds kinematics coordination system of the Vehicle.Then,the paper proposes Simple Routh Equation of nonholomonic constraints systems.Meanwhile,the Simple Routh Equation is used to analyze ISVs dynamics in details.In addition,the paper gives out the actual examples and simulates the result on computers.At last,the paper reaches to some related conclusions.
出处
《机械设计与研究》
CSCD
2004年第5期20-22,共3页
Machine Design And Research
关键词
溜冰车
非完整约束
ROUTH方程
动力学
Ice-Skater Vehicle
nonholomonic constraint
Routh Equation
dynamics
