Motions of a Rimless Spoked Wheel: a Simple 3D System with Impacts
Motions of a Rimless Spoked Wheel: a Simple 3D System with Impacts
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无框辐条轮的运动：具有影响的简单 3D 系统
DOI：
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发表时间：
1997
期刊：
影响因子：
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通讯作者：
A. Ruina
中科院分区：
文献类型：
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作者：
M. Coleman;A. Chatterjee;A. Ruina
本文讨论了刚性无缘辐条轮（或正多边形）下坡“滚动”的力学原理。我们所说的“滚动”是指车轮在一个“支撑”辐条上旋转的运动，直到另一个辐条与地面碰撞，然后将支撑转移到该辐条上，依此类推。我们对该系统的稳态运动进行了三维 (3D) 数值和分析稳定性研究。在任何固定的、足够大的坡度上，系统都具有稳定的稳定滚动运动的单参数族。对于许多辐条和小坡度的情况，我们找到了在给定航向下在三个维度上稳定滚动所需的最小坡度的解析近似值。无缘轮与被动动态行走机有一些共同的品质特征；它是一个被动 3D 系统，具有间歇性影响和周期性运动。就复杂性而言，它介于一维冲击振荡器和 3D 行走机之间。与平坦表面上具有稳定滚动运动的滚动盘相比......
This paper discusses the mechanics of a rigid rimless spoked wheel, or regular polygon, ‘rolling’ downhill. By ‘rolling’, we mean motions in which the wheel pivots on one ‘support’ spoke until another spoke collides with the ground, followed by transfer of support to that spoke, and so on. We carry out three-dimensional (3D) numerical and analytical stability studies of steady motions of this system. At any fixed, large enough slope, the system has a one-parameter family of stable steady rolling motions. We find analytic approximations for the minimum required slope at a given heading for stable rolling in three dimensions, for the case of many spokes and small slope. The rimless wheel shares some qualitative features with passive–dynamic walking machines; it is a passive 3D system with intermittent impacts and periodic motions. In terms of complexity, it lies between one-dimensional impact oscillators and 3D walking machines. In contrast to a rolling disk on a flat surface which has steady rolling motion...