Gyroscopic Precession In Motion Modelling Of Ball-Shaped Robots

dc.contributorAalto-yliopistofi
dc.contributorAalto Universityen
dc.contributor.authorYlikorpi, Tomi
dc.contributor.authorForsman, Pekka
dc.contributor.authorHalme, Aarne
dc.contributor.departmentAutomaatio- ja systeemitekniikan laitosfi
dc.contributor.departmentDepartment of Automation and Systems Technologyen
dc.contributor.schoolSähkötekniikan korkeakoulufi
dc.contributor.schoolSchool of Electrical Engineeringen
dc.date.accessioned2014-07-04T10:27:29Z
dc.date.available2014-07-04T10:27:29Z
dc.date.issued2014
dc.description.abstractThis 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.en
dc.description.versionPeer revieweden
dc.format.extent10
dc.format.mimetypeapplication/pdfen
dc.identifier.citationYlikorpi, 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.en
dc.identifier.doi10.7148/2014-0401
dc.identifier.isbn978-0-9564944-9-8 (electronic)
dc.identifier.isbn978-0-9564944-8-1 (printed)
dc.identifier.urihttps://aaltodoc.aalto.fi/handle/123456789/13623
dc.identifier.urnURN:ISBN:978-0-9564944-9-8
dc.language.isoenen
dc.publisherECMSen
dc.relation.ispartofProceedings of the 28th European Conference on Modelling and Simulationen
dc.rights.holderECMS
dc.subject.keywordball-shaped robotsen
dc.subject.keywordrobot dynamicsen
dc.subject.keywordmulti-body simulationen
dc.subject.otherAutomationen
dc.titleGyroscopic Precession In Motion Modelling Of Ball-Shaped Robotsen
dc.typeA4 Artikkeli konferenssijulkaisussafi
dc.type.dcmitypetexten
dc.type.versionPost printen
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