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dc.contributor.advisorAlciatore, David G.
dc.contributor.advisorBradley, Thomas H.
dc.contributor.authorSchroll, Gregory C.
dc.contributor.committeememberYoung, Peter M.
dc.date.accessioned2007-01-03T05:45:59Z
dc.date.available2007-01-03T05:45:59Z
dc.date.issued2010
dc.descriptionDepartment Head: Allan Thomson Kirkpatrick.
dc.description2010 Summer.
dc.descriptionIncludes bibliographical references (pages 77-78).
dc.description.abstractA prototype of a pendulum driven spherical robot has been developed during previous research and shown to exhibit unique dynamic behavior. Starting from first principles, a mathematical model for this spherical robot rolling on flat ground was developed in order to determine if this unique behavior was inherent to spherical robots in general or simply peculiar to this prototype. The complete equations of motion were found using Lagrangian methods, and numerically integrated using computer tools. A 3D simulation program was written to animate the results of integrating the equations. The dynamics apparent in the simulations were found to closely match the observed dynamics of the physical prototype.
dc.format.mediummasters theses
dc.identifier2010_Summer_Schroll_Gregory.pdf
dc.identifierETDF2010100006MCEN
dc.identifier.urihttp://hdl.handle.net/10217/39340
dc.languageEnglish
dc.publisherColorado State University. Libraries
dc.relation.ispartof2000-2019 - CSU Theses and Dissertations
dc.rightsCopyright of the original work is retained by the author.
dc.subject.lcshRobots -- Dynamics
dc.subject.lcshLagrangian functions
dc.titleDynamic model of a spherical robot from first principles
dc.typeText
dcterms.rights.dplaThe copyright and related rights status of this item has not been evaluated (https://rightsstatements.org/vocab/CNE/1.0/). Please refer to the organization that has made the Item available for more information.
thesis.degree.disciplineMechanical Engineering
thesis.degree.grantorColorado State University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science (M.S.)


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