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Dynamic anlysis of an amphibious single wheel robot part1: Moving in straight path

Marzban, M ; Sharif University of Technology | 2008

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  1. Type of Document: Article
  2. DOI: 10.1115/DETC2007-35876
  3. Publisher: 2008
  4. Abstract:
  5. A single wheel, gyroscopically stabilized robot is a sharpedged wheel actuated by a spinning flywheel for steering and a drive motor for propulsion. The spinning flywheel acts as a gyroscope to stabilize the robot and it can be tilted to achieve steering. In this paper first the kinematics of a single wheel robot, like Gyrover, in water is considered and then a simple mechanism for its movement in water is proposed. After hydrodynamic analysis of the robot a complete dynamics model is designed with Lagrange energy method. The only simplification used here is neglecting the added mass effect in hydrodynamic analysis. This complete model can be used for examining the behavior of the robot in designing a controller. This work is a significant step towards a fully automatic control of such a dynamically stable but statically unstable robots. Copyright ©2007 by ASME
  6. Keywords:
  7. Added masses ; Automatic control ; Dynamics modeling ; Energy methods ; Hydrodynamic analysis ; International designs ; Lag range ; Technical conferences ; Architectural design ; Automation ; Computer control systems ; Computer networks ; Computers ; Control ; Control theory ; Dynamics ; Electric energy storage ; Engineering ; Fluid dynamics ; Fluid mechanics ; Flywheels ; Hydrodynamics ; Information technology ; Information theory ; Mechanics ; Mechanisms ; Modal analysis ; Robotics ; Robots ; Steering ; Technology ; Wheels ; Machine design
  8. Source: 31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007, Las Vegas, NV, 4 September 2007 through 7 September 2007 ; Volume 8 PART B , 2008 , Pages 927-932 ; 0791848027 (ISBN); 9780791848029 (ISBN); 0791848094 (ISBN); 9780791848098 (ISBN)
  9. URL: https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2007/48094/927/361715