0000000000231142
AUTHOR
Mohammad Poursina
showing 5 related works from this author
Characterization of the Optimal Damping Coefficient in the Continuous Contact Model
2020
AbstractThis paper presents an analytical formula to characterize the damping coefficient as a function of system's parameters in a continuous force model of impact. The contact force element consists of a linear damper which is in a parallel connection to a spring with Hertz force-deformation characteristic. Unlike the existing models in which the separation condition is assumed to be at the time at which both zero penetration (deformation) and zero force occur, in this study, only zero contact force is considered as the separation condition. To ensure that the continuous contact model obtains the desired restitution, an optimization process is performed to find the equivalent damping coef…
Dynamic Modeling, Energy Analysis, and Path Planning of Spherical Robots on Uneven Terrains
2020
Spherical robots are generally comprised of a spherical shell and an internal actuation unit. These robots have a variety of applications ranging from search and rescue to agriculture. Although one of the main advantages of spherical robots is their capability to operate on uneven surfaces, energy analysis and path planning of such systems have been studied only for flat terrains. This work introduces a novel approach to evaluate the dynamic equations, energy consumption, and separation analysis of these robots rolling on uneven terrains. The presented dynamics modeling, separation analysis, and energy analysis allow us to implement path planning algorithms to find an optimal path. One of t…
Extended two-body problem for rotating rigid bodies
2021
A new technique that utilizes surface integrals to find the force, torque and potential energy between two non-spherical, rigid bodies is presented. The method is relatively fast, and allows us to solve the full rigid two-body problem for pairs of spheroids and ellipsoids with 12 degrees of freedom. We demonstrate the method with two dimensionless test scenarios, one where tumbling motion develops, and one where the motion of the bodies resemble spinning tops. We also test the method on the asteroid binary (66391) 1999 KW4, where both components are modelled either as spheroids or ellipsoids. The two different shape models have negligible effects on the eccentricity and semi-major axis, but…
Dynamics of asteroid systems post-rotational fission
2022
Asteroid binaries found amongst the Near-Earth objects are believed to have formed from rotational fission. In this paper, we aim to study the dynamical evolution of asteroid systems the moment after fission. The initial condition is modelled as a contact binary, similar to that of Boldrin et al. (2016). Both bodies are modelled as ellipsoids, and the secondary is given an initial rotation angle about its body-fixed $y$-axis. Moreover, we consider six different cases, three where the density of the secondary varies, and three where we vary its shape. The simulations consider 45 different initial tilt angles of the secondary, each with 37 different mass ratios. We start the dynamical simulat…
Optimal damping coefficient for a class of continuous contact models
2020
AbstractIn this study, we develop an analytical formula to approximate the damping coefficient as a function of the coefficient of restitution for a class of continuous contact models. The contact force is generated by a logical point-to-point force element consisting of a linear damper connected in parallel to a spring with Hertz force–penetration characteristic, while the exponent of deformation of the Hertz spring can vary between one and two. In this nonlinear model, it is assumed that the bodies start to separate when the contact force becomes zero. After separation, either the restitution continues or a permanent penetration is achieved. Therefore, this model is capable of addressing …