A Note on the Theory of Motion of an Articulated Truck

A mathematical model of an n-link vehicle is described. It is based on the D'Alembert–Lagrange equations and the use of the instantaneous velocity centers of isolated links resulted from the constraints imposed on the system. The model, consisting of typical elements, is comparatively simple and obvious. The reactions of holonomic and nonholonomic constraints are determined. Specific systems, including those with imperfect constraints, are considered as an example.