Predicting impact scenarios of a rimless wheel: a geometrical approach

Abstract The 2D motion of a rigid rimless wheel on an inclined plane has been widely studied as first simple case passive walker. Usually, it is modelled hybrid dynamical system alternating continuous smooth phases and discrete impact ones. As in other bipedal walkers, the related research often devoted to analysis cyclic motions assumes that spoke-ground collision single-point one. This work focuses exclusively problem explores possibility different transitions within interval (single-point double-point collisions, dynamic jamb, stick-slide sliding reversal) function spokes angular aperture, inertia, wheel-ground friction coefficient, initial conditions. done through innovative geometrical approach based Percussion Centre.