5 research outputs found
Unified Representation Of Decoupled Dynamic Models For Pendulum-Driven Ball-Shaped Robots
Dynamic models describing the ball-robot motion form the basis for developments in ball-robot mechanics and motion control systems. For this paper, we have conducted a literature review of decoupled forward-motion models for pendulum-driven ball-shaped robots. The existing models in the literature apply several different conventions in system definition and parameter notation. Even if describing the same mechanical system, the diversity in conventions leads into dynamic models with different forms. As a result, it is difficult to compare, reproduce and apply the models available in the literature. Based on the literature review, we reformulate all common variations of decoupled dynamic forward-motion models using a unified notation and formulation. We have verified all reformulated models through simulations, and present the simulation results for a selected model. In addition, we demonstrate the different system behavior resulting from different ways to apply the pendulum reaction torque, a variation that can be found in the literature. For anyone working with the ball-robots, the unified compilation of the reformulated dynamic models provides an easy access to the models, as well as to the related work.Peer reviewe
Gyroscopic Precession In Motion Modelling Of Ball-Shaped Robots
This study discusses kinematic and dynamic precession models for a rolling ball with a finite contact area and a point contact respectively. In literature, both conventions have been applied. In this paper, we discuss in detail the kinematic and dynamic models to describe the ball precession and the radius of a circular rolling path. The kinematic model can be used if the contact area and friction coefficient are sufficient to prevent slippage. The dynamic precession model has significance in multi-body simulation environments handling rolling balls with ideal point contacts. We have applied both the kinematic and dynamic precession model to evaluate the no-slip condition of the existing GimBall-robot. According to the result, the necessity of an external precession torque may cause slipping at lower velocities than expected if ignoring this torque.Peer reviewe
ΠΠ°ΠΊ ΡΠΏΡΠ°Π²Π»ΡΡΡ ΡΠ°ΡΠΎΠΌ Π§Π°ΠΏΠ»ΡΠ³ΠΈΠ½Π° ΠΏΡΠΈ ΠΏΠΎΠΌΠΎΡΠΈ ΡΠΎΡΠΎΡΠΎΠ². II
Π ΡΠ°Π±ΠΎΡΠ΅ ΠΈΡΡΠ»Π΅Π΄ΡΠ΅ΡΡΡ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΠ΅ ΠΏΡΠΈ ΠΏΠΎΠΌΠΎΡΠΈ ΡΡΠ΅Ρ
Π³ΠΈΡΠΎΡΡΠ°ΡΠΎΠ² Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΠ΅ΠΌ Π΄ΠΈΠ½Π°ΠΌΠΈΡΠ΅ΡΠΊΠΈ Π½Π΅ΡΠΈΠΌΠΌΠ΅ΡΡΠΈΡΠ½ΠΎΠ³ΠΎ ΡΡΠ°Π²Π½ΠΎΠ²Π΅ΡΠ΅Π½Π½ΠΎΠ³ΠΎ ΡΠ°ΡΠ° Π½Π° ΠΏΠ»ΠΎΡΠΊΠΎΡΡΠΈ, ΠΏΡΠΈ ΡΡΠ»ΠΎΠ²ΠΈΠΈ, ΡΡΠΎ ΡΠ°Ρ ΠΊΠ°ΡΠΈΡΡΡΠ±Π΅Π· ΠΏΡΠΎΡΠΊΠ°Π»ΡΠ·ΡΠ²Π°Π½ΠΈΡ Π² ΡΠΎΡΠΊΠ΅ ΠΊΠΎΠ½ΡΠ°ΠΊΡΠ°. ΠΠΎΠΊΠ°Π·Π°Π½Π° ΠΏΠΎΠ»Π½Π°Ρ Π°Π»Π³Π΅Π±ΡΠ°ΠΈΡΠ΅ΡΠΊΠ°Ρ ΡΠΏΡΠ°Π²Π»ΡΠ΅ΠΌΠΎΡΡΡ Π΄Π°Π½Π½ΠΎΠΉ ΡΠΈΡΡΠ΅ΠΌΡ, ΡΠΊΠ°Π·Π°Π½Ρ Π·Π°ΠΊΠΎΠ½Ρ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ, ΠΎΠ±Π΅ΡΠΏΠ΅ΡΠΈΠ²Π°ΡΡΠΈΠ΅ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΠ΅ Π²Π΄ΠΎΠ»Ρ Π·Π°Π΄Π°Π½Π½ΠΎΠΉ ΡΡΠ°Π΅ΠΊΡΠΎΡΠΈΠΈ Π½Π° ΠΏΠ»ΠΎΡΠΊΠΎΡΡΠΈ ΠΈ Π·Π°Π΄Π°ΡΡΠΈΠ΅ Π½Π΅ΠΎΠ±Ρ
ΠΎΠ΄ΠΈΠΌΡΡ ΠΎΡΠΈΠ΅Π½ΡΠ°ΡΠΈΡ ΡΠΈΡΡΠ΅ΠΌΡ; ΠΏΡΠΈΠ²Π΅Π΄Π΅Π½Ρ ΡΠ²Π½ΡΠ΅ Π·Π°ΠΊΠΎΠ½Ρ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ, ΠΎΡΡΡΠ΅ΡΡΠ²Π»ΡΡΡΠΈΠ΅ ΠΏΡΠΎΡΡΠ΅ΠΉΡΠΈΠ΅ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΡ ΡΠ°ΡΡΠΌΠ°ΡΡΠΈΠ²Π°Π΅ΠΌΠΎΠΉ ΡΠΈΡΡΠ΅ΠΌΡ