NDLI: On the impulsive dynamics of M-blocks

Content Provider	Springer Nature Link
Author	Ivav, Alexander P.
Copyright Year	2014
Abstract	This paper is concerned with the motion of a cubic rigid body (cube) with a rotor, caused by a sudden brake of the rotor, which imparts its angular momentum to the body. This produces an impulsive reaction of the support, leading to a jump or rolling from one face to another. Such dynamics was demonstrated by researchers from Massachusetts Institute of Technology at the IEEE/RSJ International Conference on Intelligent Robots and Systems in Tokio in November 2013. The robot, called by them M-block, is 4 cm in size and uses an internal flywheel mechanism rotating at 20 000 rev/min. Initially the cube rests on a horizontal plane. When the brake is set, the relative rotation slows down, and its energy is imparted to the case. The subsequent motion is illustrated in a clip [13]. Here the general approach to the analysis of dynamics of M-cube is proposed, including equations of impulsive motion and methods of their solution. Some particular cases are studied in details.
Starting Page	214
Ending Page	225
Page Count	12
File Format	PDF
ISSN	15603547
Journal	Regular and Chaotic Dynamics
Volume Number	19
Issue Number	2
e-ISSN	14684845
Language	English
Publisher	Pleiades Publishing
Publisher Date	2014-04-04
Publisher Place	Moscow
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	gyrostat impulsive dynamics friction robotic dynamics Dynamical Systems and Ergodic Theory
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Statistical and Nonlinear Physics Mathematical Physics Mechanical Engineering Modeling and Simulation

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