Dynamics of a Spherical Robot with Variable Moments of Inertia and a Displaced Center of Mass
2020
The motion of a spherical robot with periodically
changing moments of inertia, internal rotors and a displaced center of mass is considered.
It is shown that, under some restrictions on the displacement of the center of mass,
the system of interest features chaotic dynamics due to separatrix splitting.
A stability analysis is made of the upper equilibrium point of the ball and
of the periodic solution arising in its neighborhood, in the case of periodic rotation
of the rotors. It is shown that the lower equilibrium point can become unstable in the case
of fixed rotors and periodically changing moments of
inertia.
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