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This article is cited in 17 scientific papers (total in 17 papers)
Sergey Chaplygin Memorial Issue
Different Models of Rolling for a Robot Ball on a Plane as a Generalization of the Chaplygin Ball Problem
Ivan A. Bizyaevab, Alexey V. Borisovc, Ivan S. Mamaevd a Moscow Institute of Physics and Technology,
Institutskii per. 9, Dolgoprudnyi, 141700 Russia
b Center for Technologies in Robotics and Mechatronics Components, Innopolis University,
ul. Universitetskaya 1, Innopolis, 420500 Russia
c Udmurt State University,
ul. Universitetskaya 1, Izhevsk, 426034 Russia
d Institute of Mathematics and Mechanics of the Ural Branch of RAS, ul. S. Kovalevskoi 16, Ekaterinburg, 620990 Russia
Abstract:
This paper addresses the problem of the rolling of a spherical shell with a frame rotating inside, on which rotors are fastened. It is assumed that the center of mass of the entire system is at the geometric center of the shell.
For the rubber rolling model and the classical rolling model it is shown that, if the angular velocities of rotation of the frame and the rotors are constant, then there exists a noninertial coordinate system (attached to the frame) in which the equations of motion do not depend explicitly on time. The resulting equations of motion preserve an analog of the angular momentum vector and are similar in form to the equations for the Chaplygin ball. Thus, the problem reduces to investigating a two-dimensional Poincaré map.
The case of the rubber rolling model is analyzed in detail. Numerical investigation of its Poincaré map shows the existence of chaotic trajectories, including those associated with a strange attractor. In addition, an analysis is made of the case of motion from rest, in which the problem reduces to investigating the vector field on the sphere $S^2$.
Keywords:
nonholonomic mechanics, Chaplygin ball, rolling without slipping and spinning, strange attractor, straight-line motion, stability, limit cycle, balanced beaver-ball.
Received: 08.07.2019 Accepted: 26.08.2019
Citation:
Ivan A. Bizyaev, Alexey V. Borisov, Ivan S. Mamaev, “Different Models of Rolling for a Robot Ball on a Plane as a Generalization of the Chaplygin Ball Problem”, Regul. Chaotic Dyn., 24:5 (2019), 560–582
Linking options:
https://www.mathnet.ru/eng/rcd1026 https://www.mathnet.ru/eng/rcd/v24/i5/p560
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