Motion analysis of a planar rimless wheel with unilateral constraints

Terumasa Narukawa, Hidekazu Nishimura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents motion analysis of a planar rimless wheel. A spoke that comes in contact with the ground is free to detach from the ground. Detachments may lead to various types of motion such as bouncing. However, previous works usually assumed that the spoke does not detach from the ground until the new spoke impacts with the ground. Then bouncing motions never occur in the simulations. We conducted dynamical analysis of the rimless wheel when the impact is not perfectly inelastic in order to capture bouncing motions. The dynamical analysis clarified the motions of the rimless wheel. When the coefficient of restitution is not 0, the rimless wheel bounces after the impact. The stability analysis demonstrated that the motion of the rimless wheel is stable. Simulation results indicated that the coefficient of restitution affects the walking performance. Copyright (c) 2010 by JSME.

Original languageEnglish
Title of host publication5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
PublisherInternational Federation for the Promotion of Mechanism and Machine Science (IFToMM)
Pages457-464
Number of pages8
ISBN (Electronic)9781618390882
Publication statusPublished - 2010 Jan 1
Event5th Asian Conference on Multibody Dynamics 2010, ACMD 2010 - Kyoto, Japan
Duration: 2010 Aug 232010 Aug 27

Publication series

Name5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
Volume1

Other

Other5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
CountryJapan
CityKyoto
Period10/8/2310/8/27

ASJC Scopus subject areas

  • Mechanical Engineering
  • Automotive Engineering
  • Control and Systems Engineering

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