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Multi-Body Dynamic Model of a Single-Wheel Robot Stabilized by Reaction Wheel Principle

DSpace at IIT Bombay

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Title Multi-Body Dynamic Model of a Single-Wheel Robot Stabilized by Reaction Wheel Principle
 
Creator KADAM, SN
SETH, B
 
Subject Wheel-robot
Reaction wheel stabilization
Non linear dynamics
Nonholonomic constraints
Lagrange formulation
 
Description Reactobot is a one-wheel robot developed at IIT Bombay. It is balanced by a reaction wheel actuator suspended from its central axis. The Robot can get accelerated in forward or backward direction by pitching the pendulum mass within the wheel body in the same direction. Turns can be executed by tilting the robot to right or left while in motion. In this paper, we describe a multi-body dynamic model of the Reactobot, which is developed by considering seven generalized variables. The Reactobot is assumed to roll on a flat surface without slipping. The system has two nonholonomic constraints as the direction of the forward velocity of the wheel is constrained to be in the direction of wheel heading. The mathematical model of Reactobot is developed using the Lagrangian constrained generalized formulation. Subsequently, the Lagrangian multipliers are eliminated and the model is converted into 5-DOF normal form. The dynamic model is highly nonlinear. The developed mathematical model is validated by numerical simulation for special cases. The behavior of the system is along expected lines. In every simulation case, the potential energy decreases while the total energy remains constant over time since the dynamic model is conservative.
 
Publisher KRISHTEL EMAGING SOLUTIONS PVT LTD
 
Date 2014-10-16T12:17:04Z
2014-10-16T12:17:04Z
2013
 
Type Article
 
Identifier ADVANCES IN VIBRATION ENGINEERING, 12(3)215-226
http://dspace.library.iitb.ac.in/jspui/handle/100/15524
 
Language en