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Alalykin S. S., Bogatyrev A. V., Ivanova T. B., Pivovarova E. N.
Determination of moments of inertia and the position of the center of mass of robotic devices
Bulletin of Udmurt University. Physics and Chemistry, 2014, no. 4, pp. 79-86
Abstract
pdf (311.48 Kb)
In this paper we describe an inertiameter, which is an experimental facility for determining the inertia tensor components and the position of the center of mass of compound bodies. An algorithm for determining these dynamical properties is presented. Using the algorithm obtained, the displacement of the center of mass and the tensor of inertia are determined experimentally for a spherical robot of combined type.
| Keywords: |
inertiameter, spherical robot, moment of inertia, center of mass |
| Citation: |
Alalykin S. S., Bogatyrev A. V., Ivanova T. B., Pivovarova E. N., Determination of moments of inertia and the position of the center of mass of robotic devices, Bulletin of Udmurt University. Physics and Chemistry, 2014, no. 4, pp. 79-86 |
| Full text: |
pdf
(311.48 Kb)
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