Spherical robot after the design of Masaki N. at TKK. The robot is sometimes referred to 'Sushi' or 'Gimball'. For orientation: the mass ratios of sphere, bar, and lever are 1:1/2:3. The inertia tensors are implemented by assuming equal mass distribution throughout the volumes. The floor has a mass close to infinity and the inertia tensor of a sphere. The red and green cones visualize the non-static contact joint between floor and robot. The linear and angular moments are constant = 0. Derivation of mechanics at www.hakenberg.de. Enjoy!
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