[python] A Bicycle Can Be Self-Stable Without Gyroscopic or Caster Effects
- From: "Christian Andersen" <ChristianAnders@xxxxxxx>
- To: python@xxxxxxxxxxxxx
- Date: Fri, 15 Apr 2011 12:11:55 +0200
Hi folks
In Science there is an article about bikes, that could be interesting for those
of you guys, who have sufficient knowledge (unlike me). Maybe it is worth to
have a look at to improve the pythonconcept regarding stability.
http://www.sciencemag.org/content/332/6027/339.abstract
Science 15 April 2011:
Vol. 332 no. 6027 pp. 339-342
DOI: 10.1126/science.1201959
* Report
A Bicycle Can Be Self-Stable Without Gyroscopic or Caster Effects
1. J. D. G. Kooijman1,
2. J. P. Meijaard2,
3. Jim M. Papadopoulos3,
4. Andy Ruina4,*, and
5. A. L. Schwab1
Abstract
A riderless bicycle can automatically steer itself so as to recover from falls.
The common view is that this self-steering is caused by gyroscopic precession
of the front wheel, or by the wheel contact trailing like a caster behind the
steer axis. We show that neither effect is necessary for self-stability. Using
linearized stability calculations as a guide, we built a bicycle with extra
counter-rotating wheels (canceling the wheel spin angular momentum) and with
its front-wheel ground-contact forward of the steer axis (making the trailing
distance negative). When laterally disturbed from rolling straight, this
bicycle automatically recovers to upright travel. Our results show that various
design variables, like the front mass location and the steer axis tilt,
contribute to stability in complex interacting ways.
greez,
christian
a wannabe pythonrider
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