TY - GEN
T1 - A novel method to model the dynamics of a uniball robot
AU - Chembrammel, Pramod
AU - Kesavadas, Thenkurussi
N1 - Publisher Copyright:
Copyright © 2014 by ASME.
PY - 2014
Y1 - 2014
N2 - In this paper the kinematics and dynamics of a uniball robot is demonstrated. The motion of a uniball robot is derived from the dynamics of a sphere rolling on a surface which is considered as a motion about a fixed point. The equations of motion are derived using Newton-Euler method incorporating the geometrical features of the surface. A uniball-robot can be considered as a Routh's sphere whose center of mass is not at the geometrical center and have equal principal moments of inertia in the plane perpendicular to the axis connecting the center of mass and the geometrical center. The Euler angles are obtained using the Meusnier's theorem which deals with the evolution of the surface as the robot moves along.
AB - In this paper the kinematics and dynamics of a uniball robot is demonstrated. The motion of a uniball robot is derived from the dynamics of a sphere rolling on a surface which is considered as a motion about a fixed point. The equations of motion are derived using Newton-Euler method incorporating the geometrical features of the surface. A uniball-robot can be considered as a Routh's sphere whose center of mass is not at the geometrical center and have equal principal moments of inertia in the plane perpendicular to the axis connecting the center of mass and the geometrical center. The Euler angles are obtained using the Meusnier's theorem which deals with the evolution of the surface as the robot moves along.
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U2 - 10.1115/IMECE2014-38641
DO - 10.1115/IMECE2014-38641
M3 - Conference contribution
AN - SCOPUS:84926372864
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
BT - Dynamics, Vibration, and Control
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2014 International Mechanical Engineering Congress and Exposition, IMECE 2014
Y2 - 14 November 2014 through 20 November 2014
ER -