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Aiming at the dynamics of a front-wheel drive bicycle, a precise and effective mathematical model was constructed by use of Kane dynamics equations in form of screw theory in this paper. Firstly, partial velocity matrixes were achieved by recursion derivation of velocities and angular velocities of links. Then, dynamical model was developed according to the derived partial velocity matrixes. And finally, numerical simulation about the developed dynamics was carried out to analyze the dynamical characteristics of the robot. The results show that the analyses are in correspondence with the real working condition of the bicycle robot, which verifies the derived dynamical model reliably.