TY - GEN
T1 - Motion analysis of a planar rimless wheel with unilateral constraints
AU - Narukawa, Terumasa
AU - Nishimura, Hidekazu
PY - 2010/1/1
Y1 - 2010/1/1
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:84912064445
T3 - 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
SP - 457
EP - 464
BT - 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
PB - International Federation for the Promotion of Mechanism and Machine Science (IFToMM)
T2 - 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
Y2 - 23 August 2010 through 27 August 2010
ER -