Technical Briefs

On Kinematic Mechanism of a Two-Wheel Skateboard: The Essboard

[+] Author and Article Information
Tianmiao Wang

e-mail: wtm_itm@263.net

Baiquan Su

e-mail: subaiquan@gmail.com

Shaolong Kuang

e-mail: kuangshaolong@gmail.com
Robotics Institute,
School of Mechanical Engineering and Automation,
Beihang University,
Beijing 100191, China

Junchen Wang

Research Professor
School of Engineering,
University of Tokyo,
Tokyo 113-8656, Japan
e-mail: wangjunchen@gmail.com

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received November 3, 2012; final manuscript received March 6, 2013; published online June 10, 2013. Assoc. Editor: Yuefa Fang.

J. Mechanisms Robotics 5(3), 034503 (Jun 24, 2013) (7 pages) Paper No: JMR-12-1185; doi: 10.1115/1.4024240 History: Received November 03, 2012; Revised March 06, 2013

In this paper, we investigate the kinematic mechanism and path planning of a two-caster nonholonomic vehicle (the Essboard) which is a recent variant of skateboards. Different from the most studied Snakeboard, the Essboard consists of a torsion bar and two platforms, each of which contains a pedal and a caster. We study the relationship between the tilt angle of the pedal and the wheel direction of the caster. This relationship clarifies how to control the wheel direction by adjusting the tilt angle. Furthermore, the rotational radius of the Essboard is derived for a given pair of tilt angles of both pedals. The rotational radius of the Essboard is much different to that of other skateboards. Two experiments are conducted to verify the results. These results clarify the kinematic mechanism and lay a solid foundation for further investigation of the Essboard.

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Fig. 1

The Essboard configuration

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Fig. 3

Schematic diagram of motion analysis for the Essboard

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Fig. 2

Height of the rotation center Of

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Fig. 4

Effects of the angles δf and ε on the angle ηf

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Fig. 5

Angle Δ between V' fV' r and O' fO' r with respect to the angles δf and δr with the parametric set P

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Fig. 6

Rotational radius r (i.e., |C¯J'|) with respect to the tilt angles of the front and rear pedals of the Essboard

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Fig. 7

Experimental configuration



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