2007 年 73 巻 728 号 p. 1067-1074
In this paper, we present an equation of motion for a motorcycle based on the multibody dynamics analysis assuming that the motorcycle consists of four rigid parts with nine degrees of freedom. In this model the cross-sectional shape of the tire is described as a half circle and its deformation is taken into account. Also by taking account of the slip condition or the nonslip condition of tires in longitudinal direction of wheels, the each equation of motion is derived. By carrying out simulations it is verified that the responses to the front-steering impulsive torque are in good agreement with those of a marketed software. Also longitudinal friction force and side force in the turning maneuver are shown.