  A mathematical model featuring the motion of a multilink wheeled vehicle is
developed using a nonholonomic model. A detailed analysis of the inertial
motion is made. Fixed points of the reduced system are identified, their
stability is analyzed, and invariant manifolds are found. For the case of three
platforms (links), a phase portrait for motion on an invariant manifold is
shown and trajectories of the attachment points of the wheel pairs of the
three-link vehicle are presented. In addition, an analysis is made of motion in
the case where the leading platform has a rotor whose angular velocity is a
periodic function of time. The existence of trajectories for which one of the
velocity components increases without bound is established, and the asymptotics
for it is found.
