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kinematic and Dynamic Analysis of a 7 DOF Motorcycle and Derivation and Solution of its Equation of Motion using Newton and Lagrange Methods

shojaee Fard, Mahdi | 2013

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 45208 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): sohrabpour, saeed; zohoor, hassan
  7. Abstract:
  8. Motorcycle has one of the most complicated geometries and mechanisms and its kinematic, according to the articles surveyed, has always been expressed with approximation and simplification in the degrees of freedom and especially in the magnitude of the angles. Analyzing the dynamic model of bodies, using methods like Kane, Lagrange, Boltzmann-Hamel, Gibbs-Apple, Newton, Hamilton and Ross, lead to mechanism’s equations of motion. While the equations of motions, obtained from alternative methods, lead to the same result, but the number of differential equations and sometimes their order, are different in different methods, and therefore their numerical solving time for the body’s motion, are different in different methods as well. The lower the solving time, the lower the method’s error.
    The goal of this project is to find the complete kinematic of motorcycle with higher degrees of freedom, considering all the small angels, and to find motorcycle’s equations of motion from both the Lagrange and Newton methods, in order to choose the better out of two. For this, we first convert the physical and volume body into a mechanism. Next, motorcycle’s degrees of freedom, with less simplification, are specified, which increases in the degrees of freedom. Then, speed, acceleration (Kinematic), forces and Torque (Dynamic) of motorcycle is obtained according to the specified degrees of freedom, and after that, through finding equations of motion from the mentioned methods, two types of differential equation are obtained. Finally, with numerical solving of the differential equations resulted for desired incomes, the solving time for the two methods are compared, and the one with better result (i.e. lower solving time) is specified as the better model for modelling motorcycle
  9. Keywords:
  10. Motorcycle ; Dynamic Analysis ; Newton Method ; Lagrangian Method ; Kinematics Analysis ; Seven Degree of Freedom Motorcycle

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