Abstract
AbstractThe 2D motion of a rigid rimless wheel on an inclined plane has been widely studied as a first simple case of passive walker. Usually, it is modelled as a hybrid dynamical system alternating continuous smooth phases and discrete impact ones. As in other bipedal walkers, the related research is often devoted to the analysis of cyclic motions and assumes that the spoke-ground collision is a single-point one. This work focuses exclusively on the impact problem and explores the possibility of different transitions within the impact interval (single-point to double-point collisions, dynamic jamb, stick-slide transitions and sliding reversal) as a function of the spokes angular aperture, the wheel inertia, the wheel-ground friction coefficient, and the initial conditions. This analysis is done through an innovative geometrical approach based on the Percussion Centre.
Funder
Universitat Politècnica de Catalunya
Publisher
Springer Science and Business Media LLC
Subject
Electrical and Electronic Engineering,Applied Mathematics,Mechanical Engineering,Ocean Engineering,Aerospace Engineering,Control and Systems Engineering
Cited by
3 articles.
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