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Dynamics of a Spherical Robot with Variable Moments of Inertia and a Displaced Center of Mass

Regular and Chaotic Dynamics, ISSN: 1468-4845, Vol: 25, Issue: 6, Page: 689-706
2020
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Article Description

The motion of a spherical robot with periodicallychanging 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 andof the periodic solution arising in its neighborhood, in the case of periodic rotationof the rotors. It is shown that the lower equilibrium point can become unstable in the caseof fixed rotors and periodically changing moments ofinertia.

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