Parallel two-wheel vehicle with underslung vehicle body

This paper presents an advanced parallel two-wheel vehicle that has an underslung vehicle body. In the proposed parallel two-wheel vehicle, since large wheels which its diameter is 1.05[m] are applied, and the battery, the actuators and the controller are placed at the lower position in the vehicle...

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Autores principales:	Yukinori SAGO, Yoshiyuki NODA, Kiyoaki KAKIHARA, Kazuhiko TERASHIMA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2014
Materias:	parallel two-wheel vehicle active mass system lower gravity center 2-dof joystick seat positioning pitch sway suppression backstepping method. Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/44162efcfaee457a875de6bf9d162e4a
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id	oai:doaj.org-article:44162efcfaee457a875de6bf9d162e4a
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spelling	oai:doaj.org-article:44162efcfaee457a875de6bf9d162e4a2021-11-26T06:09:52ZParallel two-wheel vehicle with underslung vehicle body2187-974510.1299/mej.2014dr0036https://doaj.org/article/44162efcfaee457a875de6bf9d162e4a2014-08-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/1/4/1_2014dr0036/_pdf/-char/enhttps://doaj.org/toc/2187-9745This paper presents an advanced parallel two-wheel vehicle that has an underslung vehicle body. In the proposed parallel two-wheel vehicle, since large wheels which its diameter is 1.05[m] are applied, and the battery, the actuators and the controller are placed at the lower position in the vehicle body, the gravity center of vehicle body with a passenger can be assigned at the lower position than the wheel axis. Therefore, the vehicle has a pendular structure that enables the vehicle body with the passenger to always maintain the stable posture, even if the vehicle is in the power-off or control-off condition. A 2-DOF joystick that has operation in pitching and yawing is applied to the proposed vehicle. The elderly or handicapped passenger can operate easily and intuitively the vehicle by this joystick. Moreover, in order to suppress the sway of the vehicle on the pitch axis of the vehicle body while vehicle is driven, the sway suppression control system with an active mass system is proposed in this paper. The control system of the active mass system is designed by a backstepping method. The effectiveness of the proposed pitch sway suppression control system with the active mass system is verified by the experiments using the proposed parallel two-wheel vehicle with an underslung vehicle body.Yukinori SAGOYoshiyuki NODAKiyoaki KAKIHARAKazuhiko TERASHIMAThe Japan Society of Mechanical Engineersarticleparallel two-wheel vehicleactive mass systemlower gravity center2-dof joystickseat positioningpitch sway suppressionbackstepping method.Mechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 1, Iss 4, Pp DR0036-DR0036 (2014)
institution	DOAJ
collection	DOAJ
language	EN
topic	parallel two-wheel vehicle active mass system lower gravity center 2-dof joystick seat positioning pitch sway suppression backstepping method. Mechanical engineering and machinery TJ1-1570
spellingShingle	parallel two-wheel vehicle active mass system lower gravity center 2-dof joystick seat positioning pitch sway suppression backstepping method. Mechanical engineering and machinery TJ1-1570 Yukinori SAGO Yoshiyuki NODA Kiyoaki KAKIHARA Kazuhiko TERASHIMA Parallel two-wheel vehicle with underslung vehicle body
description	This paper presents an advanced parallel two-wheel vehicle that has an underslung vehicle body. In the proposed parallel two-wheel vehicle, since large wheels which its diameter is 1.05[m] are applied, and the battery, the actuators and the controller are placed at the lower position in the vehicle body, the gravity center of vehicle body with a passenger can be assigned at the lower position than the wheel axis. Therefore, the vehicle has a pendular structure that enables the vehicle body with the passenger to always maintain the stable posture, even if the vehicle is in the power-off or control-off condition. A 2-DOF joystick that has operation in pitching and yawing is applied to the proposed vehicle. The elderly or handicapped passenger can operate easily and intuitively the vehicle by this joystick. Moreover, in order to suppress the sway of the vehicle on the pitch axis of the vehicle body while vehicle is driven, the sway suppression control system with an active mass system is proposed in this paper. The control system of the active mass system is designed by a backstepping method. The effectiveness of the proposed pitch sway suppression control system with the active mass system is verified by the experiments using the proposed parallel two-wheel vehicle with an underslung vehicle body.
format	article
author	Yukinori SAGO Yoshiyuki NODA Kiyoaki KAKIHARA Kazuhiko TERASHIMA
author_facet	Yukinori SAGO Yoshiyuki NODA Kiyoaki KAKIHARA Kazuhiko TERASHIMA
author_sort	Yukinori SAGO
title	Parallel two-wheel vehicle with underslung vehicle body
title_short	Parallel two-wheel vehicle with underslung vehicle body
title_full	Parallel two-wheel vehicle with underslung vehicle body
title_fullStr	Parallel two-wheel vehicle with underslung vehicle body
title_full_unstemmed	Parallel two-wheel vehicle with underslung vehicle body
title_sort	parallel two-wheel vehicle with underslung vehicle body
publisher	The Japan Society of Mechanical Engineers
publishDate	2014
url	https://doaj.org/article/44162efcfaee457a875de6bf9d162e4a
work_keys_str_mv	AT yukinorisago paralleltwowheelvehiclewithunderslungvehiclebody AT yoshiyukinoda paralleltwowheelvehiclewithunderslungvehiclebody AT kiyoakikakihara paralleltwowheelvehiclewithunderslungvehiclebody AT kazuhikoterashima paralleltwowheelvehiclewithunderslungvehiclebody
_version_	1718409773594968064

Parallel two-wheel vehicle with underslung vehicle body

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