Kinematic analysis of a rolling tensegrity structure with spatially curved members. (English) Zbl 1539.70004
The paper is devoted to the study of different modes of rolling motion for a tensegrity structure with spatially curved members. This topic, intriguing from both mathematical and engineering perspectives is presented in a quite approachable manner, starting with a nice review of the existing literature and a brief discussion on the static case, after which the authors present the geometry and kinematics in the cylindrical and conical setting. Finally, a prescrition for navigating the locomotion with two control parameters is presented as a practical application. No expertise in the field is assumed for the reader – all results are derived almost from scratch using only basic methods from the geometry and calculus, and aided by clear graphical illustrations. Thus, the paper is appropriate for mathematicians and engineers with different backgrounds, as well as for curious students.
Reviewer: Danail Brezov (Sofia)
MSC:
| 70B10 | Kinematics of a rigid body |
| 70F25 | Nonholonomic systems related to the dynamics of a system of particles |
| 70Q05 | Control of mechanical systems |
Keywords:
inverse kinematics; two-dimensional rolling locomotion; nonholonomic constraint; internal movable mass; position controlReferences:
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