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Vestn. Udmurtsk. Univ. Mat. Mekh. Komp. Nauki, 2015, Volume 25, Issue 4, Pages 583–592 (Mi vuu511)  

This article is cited in 1 scientific paper (total in 1 paper)

MECHANICS

Influence of rolling friction on the controlled motion of a robot wheel

E. N. Pivovarovaa, A. V. Klekovkinb

a Department of Theoretical Physics, Udmurt State University, ul. Universitetskaya, 1, Izhevsk, 426034, Russia
b Izhevsk State Technical University, ul. Studencheskaya, 7, Izhevsk, 426069, Russia

Abstract: This paper presents an experimental investigation of the influence of rolling friction on the dynamics of a robot wheel. The robot is set in motion by changing the proper gyrostatic momentum using the controlled rotation of a rotor installed in the robot. The problem is considered under the assumption that the center of mass of the system does not coincide with its geometric center. In this paper we derive equations describing the dynamics of the system and give an example of the controlled motion of a wheel by specifying a constant angular acceleration of the rotor. A description of the design of the robot wheel is given and a method for experimentally determining the rolling friction coefficient is proposed. For the verification of the proposed mathematical model, experimental studies of the controlled motion of the robot wheel are carried out. We show that the theoretical results qualitatively agree with the experimental ones, but are quantitatively different.

Keywords: robot-wheel, rolling friction, displacement of the center of mass.

Funding Agency Grant Number
Russian Foundation for Basic Research 15-08-09261-а
Russian Science Foundation 14-19-01303


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Document Type: Article
UDC: 531.31+531.45
MSC: 70F40, 70F25
Received: 03.11.2015

Citation: E. N. Pivovarova, A. V. Klekovkin, “Influence of rolling friction on the controlled motion of a robot wheel”, Vestn. Udmurtsk. Univ. Mat. Mekh. Komp. Nauki, 25:4 (2015), 583–592

Citation in format AMSBIB
\Bibitem{PivKle15}
\by E.~N.~Pivovarova, A.~V.~Klekovkin
\paper Influence of rolling friction on the controlled motion of a~robot wheel
\jour Vestn. Udmurtsk. Univ. Mat. Mekh. Komp. Nauki
\yr 2015
\vol 25
\issue 4
\pages 583--592
\mathnet{http://mi.mathnet.ru/vuu511}
\elib{http://elibrary.ru/item.asp?id=25109981}


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    Citing articles on Google Scholar: Russian citations, English citations
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    This publication is cited in the following articles:
    1. Alexander A. Kilin, Elena N. Pivovarova, “The Rolling Motion of a Truncated Ball Without Slipping and Spinning on a Plane”, Regul. Chaotic Dyn., 22:3 (2017), 298–317  mathnet  crossref  mathscinet
  • Вестник Удмуртского университета. Математика. Механика. Компьютерные науки
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