ABSTRACT
This paper describes the analytical work done for a new type of vehicle. The vehicle is to be used inside a tube. The simple analytical model shows a roll / lateral, and yaw degree of freedom. A relatively simple condition for motion stability has been developed. Divergent instability may occur when the c.g. lies behind the point half way between the front and rear axles. Large cornering stiffness of the tyres and small wheel suspension stiffness promotes instability
Additional degrees of freedom have been defined using an ADAMS model. In this model the effect of a steering degree of freedom was examined. The automatic guidance of the vehicle by the curved inner tube wall has been investigated and the design has been optimized. The findings of the simple linear two degree of freedom model could be verified and extensions regarding full vehicle non-linear behaviour could be given.
Using the results of both models a physical prototype of the vehicle concept is built. Full scale test runs of this prototype are planned in november 1999.
