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Digital Library of the
European Council for Modelling and Simulation |
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Title: |
Gyroscopic Precession In Motion Modelling Of
Ball-Shaped Robots |
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Authors: |
Tomi Ylikorpi, Pekka Forsman, Aarne Halme |
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Published in:
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(2014).ECMS 2014 Proceedings edited
by: Flaminio Squazzoni,
Fabio Baronio, Claudia Archetti,
Marco Castellani European Council for
Modeling and Simulation. doi:10.7148/2014 ISBN:
978-0-9564944-8-1 28th
European Conference on Modelling and Simulation, Brescia,
Italy, May 27th – 30th,
2014 |
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Citation
format: |
Tomi Ylikorpi, Pekka Forsman, Aarne Halme (2014).
Gyroscopic Precession In Motion Modelling Of Ball-Shaped Robots, ECMS 2014 Proceedings
edited by: Flaminio Squazzoni,
Fabio Baronio, Claudia Archetti,
Marco Castellani European Council for Modeling and Simulation. doi:10.7148/2014-0401 |
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DOI: |
http://dx.doi.org/10.7148/2014-0401 |
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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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