具有周期性转动惯量变化的球形机器人动力学

2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI:10.1109/NIR50484.2020.9290229

I. Mamaev, E. V. Vetchanin

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引用次数: 2

摘要

研究了具有周期性转动惯量和陀螺静动量的球形机器人的运动。在“橡胶”滚动(无滑移和无扭转)模型的框架内推导了运动方程。用数值方法研究了系统部分解的稳定性。证明了系统的非保守性，因而系统的相空间中存在极限环和奇异吸引子。

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Dynamics of a spherical robot with periodically changing moments of inertia

The motion of a spherical robot with periodically changing moments of inertia and gyrostatic momentum is considered. Equations of motion are derived within the framework of the model of "rubber" rolling (without slipping and twisting). The stability of partial solutions of the system is studied numerically. It is shown that the system is nonconservative, and, as a consequence, limit cycles and strange attractors exist in the phase space of the system.

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来源期刊

2020 International Conference Nonlinearity, Information and Robotics (NIR)

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