Bicycles are inherently dynamically stable and this stability can be beneficial to handling qualities. A dynamical model can predict the self-stability. Previous models deter-mined the sensitivity of stability to changes in parameters, but have often used idealized Parameters occurring in the equations of motion that were not possible to realistically change independently. A mathematical model of a bicycle is developed and verified. The model is used together with a physical parameter generation algorithm to evaluate the dependence of four important actual design parameters on the self-stability of a bicycle.
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