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The present study introduces a novel approach for achieving path tracking of an unmanned bicycle in its local body-fixed coordinate frame. A bicycle is generally recognized as a multibody system consisting of four distinct rigid bodies, namely the front wheel, the front fork, the body frame, and the rear wheel. In contrast to most previous studies, the relationship between a tire and the road is now considered in terms of tire forces rather than nonholonomic constraints. The body frame has six degrees of freedom, while the rear wheel and front fork each have one degree of freedom relative to the body frame. The front wheel exhibits a single degree of freedom relative to the front fork. A bicycle has a total of nine degrees of freedom.

A multibody model for riderless bicycle dynamics considering tire characteristics is presented. A riderless bicycle is regarded as a multibody system consisting of four rigid bodies: rear wheel, frame, front fork, and front wheel. Every two bodies are connected with a revolute joint. The mass center coordinates and Euler angles of the rigid bodies are used as the generalized coordinates to describe their positions and orientations. The system equations of motion are obtained using Lagrange equations of the first kind. Due to the existence of the three revolute constraints and the use of dependent generalized coordinates, the Lagrange multipliers are employed to account for revolute reaction forces. As for the contact between the wheel and the ground, many studies regarded the wheel as a rigid body with a knife edge, which lead to the nonholonomic constraints between the wheel and the ground.

To study the torque distribution of track and tire in the wheel-track hybrid drive vehicle driving along the shoreline, an analysis model of wheel-track hybrid drive vehicle was established by using multi-body dynamics (MBD), discrete element (DEM), and shoreline pavement construction methods. The vehicle speed, acceleration, torque, vertical load, sinkage, slip, and other indicators when the vehicle passes the shoal at different wheel speed of rotation are analyzed. The relationships between wheel speed of rotation and slip, sinkage and slip, and vertical load and driving moment were studied, and the laws that the sinkage of tires and tracks is positively related to their slippage and the driving moment of wheels and tracks is positively related to their vertical load were obtained.

Nowadays, studying the human body response in a seated position has attracted a lot of attention as environmental vibrations are transferred to the human body through floor and seat. This research has constructed a multi-body biodynamic human model with 17 degrees of freedom (DOF), including the backrest support and the interaction between feet and ground. Three types of human biodynamic models are taken into consideration: the first model doesn't include the interaction between the feet and floor, the second considers the feet and floor interaction by using a high stiffness spring, the third one includes the interaction by using a soft spring. Based on the whole vehicle model, the excitation to human body through feet and back can be obtained by ride simulation. The simulation results indicate that the interaction between feet and ground exerts non-negligible effect upon the performance of the whole body vibration by comparing the three cases.

In the present study, the research of the exhaust system is performed in three steps. In the first step, the average driving degree of freedom displacement (ADDOFD) is calculated by the free modal analysis of the exhaust system. It is easy to find the reasonable location of the hanger according to the value of the ADDOFD, since it represents the relative size of some DOF's response displacement at excitation state. The second of which is to analyse the vibration isolation performance of the exhaust system based on the first step. The dynamic analysis of the exhaust system together with the powertrain is studied, by which way the unit sinusoidal excitation is applied at the powertrain's mass centre, so that the response force at the hanger can be obtained. Finally, the relationship between the constrained model of the exhaust system and the stiffness of the hanger is investigated, which is significant in engineering.