344 マルチボディダイナミクスを用いた倒立振子型車両と操縦者の挙動に関する基礎検討

概要

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Recently, inverted pendulum vehicle controlled by movement of driver's center of gravity, such as Winglet or Segway. These vehicles are called as "Personal Mobility Vehicle (PMV)". They are believed to be used widely from now on, because they are expected to move in pedestrian space differently from automobiles. But the PMV, an inverted pendulum vehicle, hasn't been studied enough compared with automobiles and bicycles. In this study, coupling model between a vehicle and a human are built using Multibody Dynamics. The vehicle is expressed by 2 rigid bodies (tire and body) and a human is expressed by 8 rigid links (foot, lower leg, femoral, body, head, upper arm, lower arm, hand). 2 type of impulses external forces are applied to the different part of the coupling model (vehicle body, human body, and head). We investigate the behaviors of a human model, especially the motion of human model's center of gravity. And we consider the differences in the responses for 2 types impulse external forces.
一般社団法人日本機械学会の論文
2011-09-05