Abstract
We have been developing a dynamic simulation system of mechanisms with impulsive force. A mechanism is modeled as a set of rigid bodies connected with pair-axis motors. We defined linkage inertia, pair-loop matrix and velocity dependent torque to formulate equation of motion for mechanisms. The equation determines directly the relative angular accelerations on each pair-axis. This paper describes the simulation of running bicycle. The contacts between wheel and ground are represented as a series of collision and micro collision. By several experiments, it was confirmed that the length of trail greatly influences the mileage of bicycle until the tumble.
