Analysis and Design of a Passive Steering Mechanism for a Pedaled, Self-balanced, Personal Mobility Vehicle

洪建豪(Jian-hao Hong)

指導教授 ： 葉廷仁

國立清華大學/工學院/動力機械工程學系/碩士(2014年)

摘要

In this thesis, a pedaled, self-balanced, personal mobility vehicle named LegwayII, is developed. The vehicle is structurally similar to a pedaled unicycle but uses a brushless DC (BLDC) hub motor as its main driving wheel. For this one-wheel vehicle, it is intended that the unstable longitudinal dynamics is stabilized by a feedback control system but the lateral balancing and steering are manually controlled by the rider via a passive steering mechanism. The steering mechanism consists of a main pulley, a timing belt and a pair of cables, springs, tension-adjusting devices, and idle pulleys. This study is firstly devoted to the dynamic modeling of the steering mechanism. It is shown from analyzing the model that there is a critical speed beyond which the unicycle becomes open-loop stable in the lateral direction so that the rider can turn the handle to steer the unicycle as the conventional bicycle. The dynamic model is then used for conducting simulations for selecting appropriate design parameters. An experimental prototype is constructed based on the analysis result and the steering performance is experimentally verified.

關鍵字

Unicycle ； Lagrange formulation ； Dynamic analysis ； Steering mechanism ； Design optimization

參考文獻

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