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TECHNICAL PAPERS

On the Dynamics of the Dynabee

[+] Author and Article Information
D. W. Gulick, O. M. O’Reilly

Department of Mechanical Engineering, University of California, Berkeley, CA 94720-1740

J. Appl. Mech 67(2), 321-325 (Oct 25, 1999) (5 pages) doi:10.1115/1.1304914 History: Received July 01, 1999; Revised October 25, 1999
Copyright © 2000 by ASME
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References

Figures

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Schematic of the Dynabee. The precessional motion of a vector normal to the circumferential track is also shown.
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The Euler angles and reference frames used to parameterize the precessional motion of the track
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The Euler angles and reference frames used to parameterize the rotor’s rotation relative to the track
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Rolling contact between the rotor and track as viewed from the negative e2 direction
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Phase plane for the rotor response given a constant precession rate of the track. The solid lines are trajectories for several initial conditions, the shaded area is the basin of attraction of the stable equilibrium, and the dashed lines are contours for the ratio |κ32|. The phase plane is of (27) with ζ=29,η=1.7,ν=0.018, and θ=π/4.
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Cross sections of the basin of attraction of the stable equilibrium for (32) when the track’s precession rate is increasing according to (31) with ζ=29,η=1.7,ν=0.018,θ=π/4, and ε=0.01. A sample trajectory is also shown whose initial conditions are ψ(0)=1,δ(0)=−2.5, and δ(0)=0.1.

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