Gyroscopic Precession In Motion Modelling Of Ball-Shaped Robots

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Journal ISSN
Volume Title
School of Electrical Engineering | A4 Artikkeli konferenssijulkaisussa
Date
2014
Major/Subject
Mcode
Degree programme
Language
en
Pages
10
Series
Abstract
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.
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Keywords
ball-shaped robots, robot dynamics, multi-body simulation
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Citation
Ylikorpi, Tomi & Forsman, Pekka & Halme, Aarne. 2014. Gyroscopic Precession In Motion Modelling Of Ball-Shaped Robots. Proceedings of the 28th European Conference on Modelling and Simulation. ISBN 978-0-9564944-9-8 (electronic). ISBN 978-0-9564944-8-1 (printed). DOI: 10.7148/2014-0401.