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This article is cited in 19 scientific papers (total in 19 papers)
The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere
Alexey V. Borisovabc, Ivan S. Mamaevabc, Ivan A. Bizyaeva
a Institute of Computer Science;
Laboratory of nonlinear analysis and the design of new types of vehicles, Udmurt State University, Izhevsk, Russia
b A. A. Blagonravov Mechanical Engineering Research Institute of RAS, Moscow, Russia
c Institute of Mathematics and Mechanics of the Ural Branch of RAS,
Ekaterinburg, Russia
Abstract:
In this paper, we investigate the dynamics of systems describing the rolling without slipping and spinning (rubber rolling) of various rigid bodies on a plane and a sphere. It is shown that a hierarchy of possible types of dynamical behavior arises depending on the body’s surface geometry and mass distribution. New integrable cases and cases of existence of an invariant measure are found. In addition, these systems are used to illustrate that the existence of several nontrivial involutions in reversible dissipative systems leads to quasi-Hamiltonian behavior.
Keywords:
nonholonomic constraint, tensor invariant, first integral, invariant measure, integrability, conformally Hamiltonian system, rubber rolling, reversible, involution.
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Document Type:
Article
UDC:
531.38
MSC: 37J60, 37J35
Received: 12.03.2013
Revised: 08.05.2013
Citation:
Alexey V. Borisov, Ivan S. Mamaev, Ivan A. Bizyaev, “The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere”, Nelin. Dinam., 9:2 (2013), 141–202
Citation in format AMSBIB
\Bibitem{BorMamBiz13}
\by Alexey~V.~Borisov, Ivan~S.~Mamaev, Ivan~A.~Bizyaev
\paper The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere
\jour Nelin. Dinam.
\yr 2013
\vol 9
\issue 2
\pages 141--202
\mathnet{http://mi.mathnet.ru/nd385}
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http://mi.mathnet.ru/eng/nd385 http://mi.mathnet.ru/eng/nd/v9/i2/p141
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I. A. Bizyaev, A. O. Kazakov, “Integriruemost i stokhastichnost nekotorykh zadach negolonomnoi mekhaniki”, Nelineinaya dinam., 9:2 (2013), 257–265
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A. O. Kazakov, “Fenomeny khaoticheskoi dinamiki v zadache o kachenii rok-n-rollera bez vercheniya”, Nelineinaya dinam., 9:2 (2013), 309–325
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I. A. Bizyaev, A. V. Borisov, I. S. Mamaev, “Dinamika negolonomnykh sistem, sostoyaschikh iz sfericheskoi obolochki s podvizhnym tverdym telom vnutri”, Nelineinaya dinam., 9:3 (2013), 547–566
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A. V. Bolsinov, A. V. Borisov, I. S. Mamaev, “Geometrizatsiya teoremy Chaplygina o privodyaschem mnozhitele”, Nelineinaya dinam., 9:4 (2013), 627–640
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A. V. Borisov, A. A. Kilin, I. S. Mamaev, “Problema dreifa i vozvraschaemosti pri kachenii shara Chaplygina”, Nelineinaya dinam., 9:4 (2013), 721–754
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A. A. Kilin, Yu. L. Karavaev, A. V. Klekovkin, “Kinematicheskaya model upravleniya vysokomanevrennym mobilnym sferorobotom s vnutrennei omnikolesnoi platformoi”, Nelineinaya dinam., 10:1 (2014), 113–126
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A. V. Borisov, A. O. Kazakov, S. P. Kuznetsov, “Nonlinear dynamics of the rattleback: a nonholonomic model”, Phys. Usp., 57:5 (2014), 453–460
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E. V. Vetchanin, A. O. Kazakov, “Bifurkatsii i khaos v zadache o dvizhenii dvukh tochechnykh vikhrei v akusticheskoi volne”, Nelineinaya dinam., 10:3 (2014), 329–343
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A. V. Borisov, I. S. Mamaev, “Invariantnaya mera i gamiltonizatsiya negolonomnykh sistem”, Nelineinaya dinam., 10:3 (2014), 355–359
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A. V. Borisov, A. O. Kazakov, I. R. Sataev, “Regulyarnye i khaoticheskie attraktory v negolonomnoi modeli volchka Chaplygina”, Nelineinaya dinam., 10:3 (2014), 361–380
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A. A. Kilin, Yu. L. Karavaev, “Kinematicheskaya model upravleniya sferorobotom s neuravnoveshennoi omnikolesnoi platformoi”, Nelineinaya dinam., 10:4 (2014), 497–511
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Yury L. Karavaev, Alexander A. Kilin, “The Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform”, Regul. Chaotic Dyn., 20:2 (2015), 134–152
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A. V. Borisov, Yu. L. Karavaev, I. S. Mamaev, N. N. Erdakova, T. B. Ivanova, V. V. Tarasov, “Experimental Investigation of the Motion of a Body with an Axisymmetric Base Sliding on a Rough Plane”, Regul. Chaotic Dyn., 20:5 (2015), 518–541
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A. A. Kilin, Yu. L. Karavaev, “Eksperimentalnye issledovaniya dinamiki sfericheskogo robota kombinirovannogo tipa”, Nelineinaya dinam., 11:4 (2015), 721–734
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I. A. Bizyaev, A. V. Bolsinov, A. V. Borisov, I. S. Mamaev, “Topology and bifurcations in nonholonomic mechanics”, International Journal of Bifurcation and Chaos, 25:10 (2015), 15300–21
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A. V. Borisov, I. S. Mamaev, “Symmetries and reduction in nonholonomic mechanics”, Regul. Chaotic Dyn., 20:5 (2015), 553–604
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Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev, “Dynamics and Control of an Omniwheel Vehicle”, Regul. Chaotic Dyn., 20:2 (2015), 153–172
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Yu. L. Karavaev, A. A. Kilin, “Dinamika sferorobota s vnutrennei omnikolesnoi platformoi”, Nelineinaya dinam., 11:1 (2015), 187–204
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I. R. Sataev, A. O. Kazakov, “Stsenarii perekhoda k khaosu v negolonomnoi modeli volchka Chaplygina”, Nelineinaya dinam., 12:2 (2016), 235–250
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