• The Journal of Korea Robotics Society
• /
• v.1 no.1
• /
• pp.73-80
• /
• 2006

Bicycle is one of convenient transportation system. In this paper, we derive a more precise kinematics of bicycle system compared with other ones which were suggested by other researchers. In the derivation of kinematics we adopted a physical concept called virtual wheel. We also propose an algorithm for deriving inverse kinematics of a bicycle system. In this paper, the meaning of inverse kinematics is to find the time functions of steering angle and driving wheel speed for a given desired path trajectory. From the computer simulation, we show the validity of our proposed algorithm for inverse kinematics of bicycle system.

• Composites Research
• /
• v.25 no.5
• /
• pp.141-146
• /
• 2012

The strength design for the lightweight bicycle wheel made of the Carbon/Epoxy composite laminates has been discussed in this paper. For bicycle wheel design, lightness of the wheel is important. Also, it has to satisfy the required strength under specific loading cases. Two testing methods for the bicycle wheel, i.e. vertical and complex loadings, are adopted in this study. Because the strengths of composite wheel is different in relation to the stacking sequence and the number of plies, it is important to decide an appropriate stacking sequence and number of layers for the composite wheel. From the finite element analysis results, the most stable sequence orientation and number of layers are determined. The stacking sequence $[0]_{8n}$, $[90]_{8n}$, $[0/90]_{2ns}$, $[{\pm}45]_{2ns}$, $[0/{\pm}45/90]_{ns}$ (n=1,2,3,4)are performed for finite element analysis. From results, $[0/{\pm}45/90]_{3s}$ lay-up is a good selection for the composite bicycle wheel. Also, the weakest point and layer are found in this study.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.36 no.4
• /
• pp.25-30
• /
• 2013

This article deals with the transient analysis in bicycle shifting using a discrete chain model. Among the various components of a bicycle, we focused in the power-transmissions on the contact points between the chain element and sprocket. And by imposing kinematic motions on the front and rear derailleurs, we analyzed the shifting mechanism for increasing the rotational speed of rear wheel. In order to build the dynamic analysis model, we first tore down the real bicycle and measured each component's design parameters. Then we made 3-dimensional CAD models for each component related to the power transmission of a bicycle. Using the converted 3-dimensional dynamic model for the simulation program, we performed non-shifting and shifting dynamic analysis. As a result, we investigated the dynamic behaviors of a discrete chain model focused on the interaction between the chain and sprocket wheel.

• Transactions on Control, Automation and Systems Engineering
• /
• v.3 no.3
• /
• pp.176-180
• /
• 2001

In this papers, we derive a simple kinematic and dynamic formulation of an unmanned electric bicycle. We also check the controllability of the stabilization problem of bicycle. We propose a new control algorithm for the self stabilization of unmanned bicycle with bounded wheel speed and steering angle by using nonlinear control based on the sliding patch and stuck phenomena which was introduced by W. Ham. We also propose a sort of optimal control strategy for steering angle and driving wheel speed that make the length of bicycle\`s path be the shortest. From the computer simulation results, we prove the validity of the proposed control algorithm.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.5
• /
• pp.551-556
• /
• 2014

This paper proposes a balancing control and driving control of a bicycle robot based on dynamic modeling of the bicycle robot, which has been derived using the Lagrange equations. For the balancing control of the bicycle robot, a reaction wheel pendulum method has been adopted in this research. By using the dynamics equations of the bicycle robot, an LQR controller has been designed for a balancing and driving control of a bicycle robot. The performance of the balance control is verified experimentally before the driving control, which shows a stable posture within one degree vibrations. To show the dynamic characteristics of the bicycle robot during driving, a trapezoidal velocity trajectory is selected as the references. Through simulations and real experiments, the effectiveness of the proposed algorithm has been demonstrated.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.6
• /
• pp.532-539
• /
• 2012

This paper proposes a balancing and driving control system for a bicycle robot. A reaction wheel pendulum control method is adopted to maintain the balance while the bicycle robot is driving. For the driving control, PID control algorithm with a variable gain adjustment has been developed in this paper, where the gains are heuristically adjusted during the experiments. To measure the angles of the wheels the encoders are used. For the balancing control, a roll controller is designed with a non-model based algorithm to make the shortest cycle. The tilt angle is measured by the fusion of the acceleration and gyroscope sensors, which is used to generate the control input of the roll controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed bicycle robot.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.10
• /
• pp.1006-1013
• /
• 2011

In this paper, we propose an optimal posture control law for an unmanned bicycle by deriving linear bicycle model from fully nonlinear differential equations. We calculate each equilibrium point of a bicycle under any given turning radius and angular speed of rear wheel. There is only one equilibrium point when a bicycle goes straight, while there are a lot of equilibrium points in case of turning. We present an optimal equilibrium point which makes the leaning input minimum when a bicycle is turning. As human riders give rolling torque by moving center of gravity of a body, many previous studies use a movable mass to move center of gravity like humans do. Instead we propose a propeller as a new leaning input which generates rolling torque. The propeller thrust input makes bicycle model simpler and removes input magnitude constraint unlike a movable mass. The proposed controller can hold optimal equilibrium points using both steering input and leaning input. The simulation results on linear control for circular motion are demonstrated to show the validity of the proposed approach.

• Journal of Mechanical Science and Technology
• /
• v.19 no.spc1
• /
• pp.292-304
• /
• 2005

In this paper we present the linearized equations of motion for a bicycle as a benchmark. The results obtained by pencil-and-paper and two programs are compared. The bicycle model we consider here consists of four rigid bodies, viz. a rear frame, a front frame being the front fork and handlebar assembly, a rear wheel and a front wheel, which are connected by revolute joints. The contact between the knife-edge wheels and the flat level surface is modelled by holonomic constraints in the normal direction and by non-holonomic constraints in the longitudinal and lateral direction. The rider is rigidly attached to the rear frame with hands free from the handlebar. This system has three degrees of freedom, the roll, the steer, and the forward speed. For the benchmark we consider the linearized equations for small perturbations of the upright steady forward motion. The entries of the matrices of these equations form the basis for comparison. Three diffrent kinds of methods to obtain the results are compared : pencil-and-paper, the numeric multibody dynamics program SPACAR, and the symbolic software system Auto Sim. Because the results of the three methods are the same within the machine round-off error, we assume that the results are correct and can be used as a bicycle dynamics benchmark.

• Journal of Auto-vehicle Safety Association
• /
• v.12 no.1
• /
• pp.6-14
• /
• 2020

Personal mobility, which was used exclusively for leisure activities, has recently been used as a means of transportation, and it is expected to increase its role as the next generation transportation. Sales of personal mobility are increasing rapidly, but the problem is that traffic accidents are also increasing. In this study, human body injury caused by various collisions between electric wheel users and road users that occur on bicycle or pedestrian roads mainly used by personal mobility is analyzed through collision analysis and collision risk analysis. In the case of the collision accident for electric wheel, it is analyzed that the road users are more likely to be injured on the pedestrian road than the bicycle road. In addition, the head hit each other or fall and hit the floor caused severe head injury.

• Design & Manufacturing
• /
• v.11 no.2
• /
• pp.29-36
• /
• 2017

In this study, the non-contact type bicycle generator system considering the recharge is developed to use the eco-friendly energy source when the bicycle is operating. The following three main factors are considered in this study. One of factors is that the intensity of the rotating magnet is in the range of 2,700~4,300 [Gause]. The next factor is that the separation distance of rotating magnet and bicycle rim is in the range of 1.5-3.0 mm. The last factor is that the pedaling speed is in the range of 55 RPM [Wheel speed 5.6Km]~150 RPM [Wheel speed 15.25Km] consirering with the 5 staged gear transmission. The obtained results are as followed. (1) The generator output voltage gradually increases from 3V to 10V with the pedaling speed increases, at the separation distance is less than 2.5 mm and the operating voltage of the LED lamp is generated at a pedaling speed of 60 RPM or more. (2) The output current of the generator increases from 20mA to 40mA with the pedaling speed increases, at a separation distance is less than 2.0 mm and the operating current of the LED lamp is generated at a pedaling speed of 60 RPM or more. (3) When the separation distance was 3.0 mm, the output voltage and current are significantly lower than those of the bicycle LED lamp is generated. (4) The charging time is expected to be 12.24 ~ 17.65 hours when the magnitude of the magnet is 3,400[Gauss] at a pedaling speed of 55 RPM or more. (5) As a result of this study, it is thought that the non-contact type bicycle generator system considering the recharge can replace the conventional friction power generation system.