日本機械学会論文集
Online ISSN : 2187-9761
ISSN-L : 2187-9761
機械力学・計測制御分野特集号2020
前2輪後キャスタ1輪車両の運動基本モデルの構築と乗員位置が与える影響
佐藤 晃輔中川 智皓新谷 篤彦
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2020 年 86 巻 888 号 p. 20-00009

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In recent years, PMVs (Personal Mobility Vehicles) have been attracting attention as a new means of transportation. We focus on the three-wheeled PMV which has two front-wheel and one rear-caster. They are environmentally friendly without exhausting harmful gases. These vehicle bodies are relatively smaller than cars, so they have a high affinity for pedestrian space. However, depending on the specifications of the vehicle, there is a possibility that wheel lifts during turning because the weight of the vehicle is low. In this study, we proposed the model of the three-wheeled PMV with two front-wheel and one rear-caster. We discussed the validity of the modeling by comparing the numerical simulation and the experiments. In terms of the driving force of the front wheels, the modeling was generally valid when the velocity of the vehicle is low and the turning radius is large. However, in the opposite case, the centrifugal force of the driver during the turning becomes larger and the moment around the front wheels axle center point is generated. Then it is expected that more detailed analysis will be possible by considering the relationship between the centrifugal force received by the driver and the driving force of the motor in consideration of the driver’s behavior. From the parametric study, it was found that the normal forces of the wheels greatly changed depending on the riding position of the driver. The area of the risk of falling was shown.

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