A Multibody System Approach for the Systematic Development of a Closed-Chain Kinematic Model for Two-Wheeled Vehicles

In this investigation, a closed-chain kinematic model for two-wheeled vehicles is devised. The kinematic model developed in this work is general and, therefore, it is suitable for describing the complex geometry of the motion of both bicycles and motorcycles. Since the proposed kinematic model is sy...

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Autores principales:	Camilo Andres Manrique-Escobar, Carmine Maria Pappalardo, Domenico Guida
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	articulated mechanical systems multibody simulation vehicle modeling bicycle dynamics motorcycle dynamics kinematic analysis Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/8520549b88be4e448e8af4e2dd2faad8
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id	oai:doaj.org-article:8520549b88be4e448e8af4e2dd2faad8
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spelling	oai:doaj.org-article:8520549b88be4e448e8af4e2dd2faad82021-11-25T18:11:58ZA Multibody System Approach for the Systematic Development of a Closed-Chain Kinematic Model for Two-Wheeled Vehicles10.3390/machines91102452075-1702https://doaj.org/article/8520549b88be4e448e8af4e2dd2faad82021-10-01T00:00:00Zhttps://www.mdpi.com/2075-1702/9/11/245https://doaj.org/toc/2075-1702In this investigation, a closed-chain kinematic model for two-wheeled vehicles is devised. The kinematic model developed in this work is general and, therefore, it is suitable for describing the complex geometry of the motion of both bicycles and motorcycles. Since the proposed kinematic model is systematically developed in the paper by employing a sound multibody system approach, which is grounded on the use of a straightforward closed-chain kinematic description, it allows for readily evaluating the effectiveness of two alternative methods to formulate the wheel-road contact constraints. The methods employed for this purpose are a technique based on the geometry of the vector cross-product and a strategy based on a simple surface parameterization of the front wheel. To this end, considering a kinematically driven vehicle system, a comparative analysis is performed to analyze the geometry of the contact between the front wheel of the vehicle and the ground, which represents a fundamental problem in the study of the motion of two-wheeled vehicles in general. Subsequently, an exhaustive and extensive numerical analysis, based on the systematic multibody approach mentioned before, is carried out in this work to study the system kinematics in detail. Furthermore, the orientation of the front assembly, which includes the frontal fork, the handlebars, and the front wheel in a seamless subsystem, is implicitly formulated through the definition of three successive rotations, and this approach is used to propose an explicit formulation of its inherent set of Euler angles. In general, the numerical results developed in the present work compare favorably with those found in the literature about vehicle kinematics and contact geometry.Camilo Andres Manrique-EscobarCarmine Maria PappalardoDomenico GuidaMDPI AGarticlearticulated mechanical systemsmultibody simulationvehicle modelingbicycle dynamicsmotorcycle dynamicskinematic analysisMechanical engineering and machineryTJ1-1570ENMachines, Vol 9, Iss 245, p 245 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	articulated mechanical systems multibody simulation vehicle modeling bicycle dynamics motorcycle dynamics kinematic analysis Mechanical engineering and machinery TJ1-1570
spellingShingle	articulated mechanical systems multibody simulation vehicle modeling bicycle dynamics motorcycle dynamics kinematic analysis Mechanical engineering and machinery TJ1-1570 Camilo Andres Manrique-Escobar Carmine Maria Pappalardo Domenico Guida A Multibody System Approach for the Systematic Development of a Closed-Chain Kinematic Model for Two-Wheeled Vehicles
description	In this investigation, a closed-chain kinematic model for two-wheeled vehicles is devised. The kinematic model developed in this work is general and, therefore, it is suitable for describing the complex geometry of the motion of both bicycles and motorcycles. Since the proposed kinematic model is systematically developed in the paper by employing a sound multibody system approach, which is grounded on the use of a straightforward closed-chain kinematic description, it allows for readily evaluating the effectiveness of two alternative methods to formulate the wheel-road contact constraints. The methods employed for this purpose are a technique based on the geometry of the vector cross-product and a strategy based on a simple surface parameterization of the front wheel. To this end, considering a kinematically driven vehicle system, a comparative analysis is performed to analyze the geometry of the contact between the front wheel of the vehicle and the ground, which represents a fundamental problem in the study of the motion of two-wheeled vehicles in general. Subsequently, an exhaustive and extensive numerical analysis, based on the systematic multibody approach mentioned before, is carried out in this work to study the system kinematics in detail. Furthermore, the orientation of the front assembly, which includes the frontal fork, the handlebars, and the front wheel in a seamless subsystem, is implicitly formulated through the definition of three successive rotations, and this approach is used to propose an explicit formulation of its inherent set of Euler angles. In general, the numerical results developed in the present work compare favorably with those found in the literature about vehicle kinematics and contact geometry.
format	article
author	Camilo Andres Manrique-Escobar Carmine Maria Pappalardo Domenico Guida
author_facet	Camilo Andres Manrique-Escobar Carmine Maria Pappalardo Domenico Guida
author_sort	Camilo Andres Manrique-Escobar
title	A Multibody System Approach for the Systematic Development of a Closed-Chain Kinematic Model for Two-Wheeled Vehicles
title_short	A Multibody System Approach for the Systematic Development of a Closed-Chain Kinematic Model for Two-Wheeled Vehicles
title_full	A Multibody System Approach for the Systematic Development of a Closed-Chain Kinematic Model for Two-Wheeled Vehicles
title_fullStr	A Multibody System Approach for the Systematic Development of a Closed-Chain Kinematic Model for Two-Wheeled Vehicles
title_full_unstemmed	A Multibody System Approach for the Systematic Development of a Closed-Chain Kinematic Model for Two-Wheeled Vehicles
title_sort	multibody system approach for the systematic development of a closed-chain kinematic model for two-wheeled vehicles
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/8520549b88be4e448e8af4e2dd2faad8
work_keys_str_mv	AT camiloandresmanriqueescobar amultibodysystemapproachforthesystematicdevelopmentofaclosedchainkinematicmodelfortwowheeledvehicles AT carminemariapappalardo amultibodysystemapproachforthesystematicdevelopmentofaclosedchainkinematicmodelfortwowheeledvehicles AT domenicoguida amultibodysystemapproachforthesystematicdevelopmentofaclosedchainkinematicmodelfortwowheeledvehicles AT camiloandresmanriqueescobar multibodysystemapproachforthesystematicdevelopmentofaclosedchainkinematicmodelfortwowheeledvehicles AT carminemariapappalardo multibodysystemapproachforthesystematicdevelopmentofaclosedchainkinematicmodelfortwowheeledvehicles AT domenicoguida multibodysystemapproachforthesystematicdevelopmentofaclosedchainkinematicmodelfortwowheeledvehicles
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A Multibody System Approach for the Systematic Development of a Closed-Chain Kinematic Model for Two-Wheeled Vehicles

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