Topological types of isoenergy surfaces in the system of the Chaplygin ball with a rotor

The problem of rolling balanced dynamically nonsymmetric ball with a rotor on a rough horizontal plane is considered. Topological types of isoenergy surfaces of this integrable Hamiltonian system are found. Curves are constructed on the plane of the parameters $\mathbb{R}^2(h, c)$ separating it into regions so that all points from the same region correspond to isoenergy surfaces with identical Fomenko–Zieschang invariants.