Motion analysis of a planar rimless wheel with unilateral constraints

Terumasa Narukawa, Hidekazu Nishimura

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
出版社International Federation for the Promotion of Mechanism and Machine Science (IFToMM)
ページ457-464
ページ数8
ISBN(電子版)9781618390882
出版ステータスPublished - 2010 1 1
イベント5th Asian Conference on Multibody Dynamics 2010, ACMD 2010 - Kyoto, Japan
継続期間: 2010 8 232010 8 27

出版物シリーズ

名前5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
1

Other

Other5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
国/地域Japan
CityKyoto
Period10/8/2310/8/27

ASJC Scopus subject areas

  • 機械工学
  • 自動車工学
  • 制御およびシステム工学

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