Dynamics of Multi-Link Uncontrolled Wheeled Vehicle

In the paper, the dynamics is investigated of an uncontrolled multi-link wheeled vehicle consisting of trolleys with one wheel pair that are attached to the previous link with metal frames and are capable of rotating around their anchor points. The mechanical system under consideration is nonholonomic, since it has additional nonholonmic kinamic connections. A system of differential equations is obtained that describes the dynamics of motion of this wheeled vehicle using the joint solution of the equations of motion in the Lagrange form with indefinite factors and time derivatives of nonholonomic equations of constraints. The cases of constant and variable location of the center of mass of the leading link are investigated. In the case of a constant location of the center of mass of the leading link, the problem is reduced to the system reduced to the level of the integral of the kinetic energy of the system. The stability of the systems thus obtained is analyzed, and the graphs of the desired functions and phase portraits are constructed.