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Dynamic modeling and stability analysis of a power-generating tumbleweed rover

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Abstract

This paper introduces a novel tumbleweed rover design that employs a pendulum–generator system to harvest electrical power from the wind. First, the dynamics of this multibody system are developed, including the internal pendulum dynamics, resistance (damping) provided by the electrical generators, external wind force, and rolling constraints between the sphere and the ground. Second, the stability of the system (without wind) is studied and it is shown that it is stable in the sense of Lyapunov. Finally, simulation results are provided that verify the system will roll stably downwind while generating power.

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Authors and Affiliations

  1. University of Toronto Institute for Aerospace Studies, 4925 Dufferin Street, Toronto, Ontario, M3H 5T6, Canada

    James R. Forbes, Timothy D. Barfoot & Christopher J. Damaren

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  1. James R. Forbes
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  2. Timothy D. Barfoot
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  3. Christopher J. Damaren
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Correspondence to Timothy D. Barfoot.

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Forbes, J.R., Barfoot, T.D. & Damaren, C.J. Dynamic modeling and stability analysis of a power-generating tumbleweed rover. Multibody Syst Dyn 24, 413–439 (2010). https://doi.org/10.1007/s11044-010-9202-2

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  • DOI: https://doi.org/10.1007/s11044-010-9202-2

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