A new configuration of two wheeled vehicles: towards a more workspace and motion flexibility

This work presents a novel design of two-wheeled vehicles. The proposed design provides the vehicle with more flexibility in terms of the increased degrees of freedom which enable the vehicle to enlarge its working space. The additional translational degree of freedom (DOF), offered by the linear...

Full description

Bibliographic Details
Main Authors:	Goher, Khalid, Ahmad, Salmiah, Tokhi, M. Osman
Format:	Conference or Workshop Item
Language:	English
Published:	2010
Subjects:	TJ170 Mechanics applied to machinery. Dynamics TJ181 Mechanical movements
Online Access:	http://irep.iium.edu.my/2173/ http://irep.iium.edu.my/2173/ http://irep.iium.edu.my/2173/1/05482350.pdf

id	iium-2173
recordtype	eprints
spelling	iium-21732011-11-23T02:52:15Z http://irep.iium.edu.my/2173/ A new configuration of two wheeled vehicles: towards a more workspace and motion flexibility Goher, Khalid Ahmad, Salmiah Tokhi, M. Osman TJ170 Mechanics applied to machinery. Dynamics TJ181 Mechanical movements This work presents a novel design of two-wheeled vehicles. The proposed design provides the vehicle with more flexibility in terms of the increased degrees of freedom which enable the vehicle to enlarge its working space. The additional translational degree of freedom (DOF), offered by the linear actuator, assists any attached payload to reach higher levels as and when required. The model of the system mimics the scenario of double inverted pendulum on a moving base. However, it is further complicated due to the addition of a one more (DOF). As adding more degrees of freedom to the system increases the degree of complexity, Lagrangian dynamic formulation is used, due to its relative simplicity, to derive the system dynamics. The new developed configurations is of great importance in various applications including self balance robots, wheelchairs on two wheels, stability analysis of multi segment gaits and multi links cranes etc. In order to maintain the system nonlinear characteristics, the system model is derived with the consideration of the joints friction based on the Coulomb friction model. An investigation is carried out on the impact of the joints damping on the stability of the system. 2010-06-07 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/2173/1/05482350.pdf Goher, Khalid and Ahmad, Salmiah and Tokhi, M. Osman (2010) A new configuration of two wheeled vehicles: towards a more workspace and motion flexibility. In: 2010 4th Annual IEEE Systems Conference, 5-8 Apr., 2010, San Diego, CA, USA. http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?asf_arn=null&asf_iid=null&asf_pun=5473793&asf_in=null&asf_rpp=null&asf_iv=null&asf_sp=null&asf_pn=10
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ170 Mechanics applied to machinery. Dynamics TJ181 Mechanical movements
spellingShingle	TJ170 Mechanics applied to machinery. Dynamics TJ181 Mechanical movements Goher, Khalid Ahmad, Salmiah Tokhi, M. Osman A new configuration of two wheeled vehicles: towards a more workspace and motion flexibility
description	This work presents a novel design of two-wheeled vehicles. The proposed design provides the vehicle with more flexibility in terms of the increased degrees of freedom which enable the vehicle to enlarge its working space. The additional translational degree of freedom (DOF), offered by the linear actuator, assists any attached payload to reach higher levels as and when required. The model of the system mimics the scenario of double inverted pendulum on a moving base. However, it is further complicated due to the addition of a one more (DOF). As adding more degrees of freedom to the system increases the degree of complexity, Lagrangian dynamic formulation is used, due to its relative simplicity, to derive the system dynamics. The new developed configurations is of great importance in various applications including self balance robots, wheelchairs on two wheels, stability analysis of multi segment gaits and multi links cranes etc. In order to maintain the system nonlinear characteristics, the system model is derived with the consideration of the joints friction based on the Coulomb friction model. An investigation is carried out on the impact of the joints damping on the stability of the system.
format	Conference or Workshop Item
author	Goher, Khalid Ahmad, Salmiah Tokhi, M. Osman
author_facet	Goher, Khalid Ahmad, Salmiah Tokhi, M. Osman
author_sort	Goher, Khalid
title	A new configuration of two wheeled vehicles: towards a more workspace and motion flexibility
title_short	A new configuration of two wheeled vehicles: towards a more workspace and motion flexibility
title_full	A new configuration of two wheeled vehicles: towards a more workspace and motion flexibility
title_fullStr	A new configuration of two wheeled vehicles: towards a more workspace and motion flexibility
title_full_unstemmed	A new configuration of two wheeled vehicles: towards a more workspace and motion flexibility
title_sort	new configuration of two wheeled vehicles: towards a more workspace and motion flexibility
publishDate	2010
url	http://irep.iium.edu.my/2173/ http://irep.iium.edu.my/2173/ http://irep.iium.edu.my/2173/1/05482350.pdf
first_indexed	2023-09-18T20:09:42Z
last_indexed	2023-09-18T20:09:42Z
_version_	1777407395577724928

A new configuration of two wheeled vehicles: towards a more workspace and motion flexibility

Similar Items