Chaplygin ball over a fixed sphere: an explicit integration

DOI10.1134/S1560354708060063zbMATH Open1229.37080arXiv0812.4718OpenAlexW2009867566MaRDI QIDQ652995FDOQ652995

Yuri N. Fedorov, A. V. Borisov, I. S. Mamaev

Publication date: 6 January 2012

Published in: Regular and Chaotic Dynamics (Search for Journal in Brave)

Abstract: We consider a nonholonomic system describing a rolling of a dynamically non-symmetric sphere over a fixed sphere without slipping. The system generalizes the classical nonholonomic Chaplygin sphere problem and it is shown to be integrable for one special ratio of radii of the spheres. After a time reparameterization the system becomes a Hamiltonian one and admits a separation of variables and reduction to Abel--Jacobi quadratures. The separating variables that we found appear to be a non-trivial generalization of ellipsoidal (spheroconical) coordinates on the Poisson sphere, which can be useful in other integrable problems. Using the quadratures we also perform an explicit integration of the problem in theta-functions of the new time.

Full work available at URL: https://arxiv.org/abs/0812.4718

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zbMATH Keywords

nonholonomic mechanicsChaplygin ballexplicit integration

Mathematics Subject Classification ID

Completely integrable finite-dimensional Hamiltonian systems, integration methods, integrability tests (37J35) Nonholonomic systems related to the dynamics of a system of particles (70F25) Nonholonomic dynamical systems (37J60) Constrained dynamics, Dirac's theory of constraints (70H45)

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Cited In (43)

• Demchenko’s nonholonomic case of a gyroscopic ball rolling without sliding over a sphere after his 1923 Belgrade doctoral thesis
• The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere
• Topological analysis of an integrable system related to the rolling of a ball on a sphere
• Two Integrable Cases of a Ball Rolling over a Sphere in $\mathbb{R}^n$
• Different models of rolling for a robot ball on a plane as a generalization of the Chaplygin ball problem
• On generalized nonholonomic Chaplygin sphere problem
• Spiral chaos in the nonholonomic model of a Chaplygin top
• An invariant measure and the probability of a fall in the problem of an inhomogeneous disk rolling on a plane
• Dynamics of two point vortices in an external compressible shear flow
• Spherical robot of combined type: dynamics and control
• Dynamics of the Chaplygin sphere with additional constraint
• Integrable nonsmooth nonholonomic dynamics of a rubber wheel with sharp edges
• Nonholonomic deformation of coupled and supersymmetric KdV equations and Euler–Poincaré–Suslov method
• Two non-holonomic integrable problems tracing back to Chaplygin
• Adiabatic invariants, diffusion and acceleration in rigid body dynamics
• On the control of a robot ball using two omniwheels
• Gyroscopic Chaplygin systems and integrable magnetic flows on spheres
• The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere
• Hamiltonization of non-holonomic systems in the neighborhood of invariant manifolds
• Invariant measures of modified LR and L+R systems
• Two non-holonomic integrable systems of coupled rigid bodies
• Rolling balls over spheres in $ \newcommand{\m}{\mathfrak m} {\mathbb{R}^n}$
• Bifurcation analysis of the dynamics of two vortices in a Bose-Einstein condensate. the case of intensities of opposite signs
• Rolling of a homogeneous ball over a dynamically asymmetric sphere
• The dynamics and control of a spherical robot with an internal omniwheel platform
• Nonholonomic connections, time reparametrizations, and integrability of the rolling ball over a sphere
• Hamiltonisation of non-holonomic systems in the neighborhood of invariant manifolds
• On deformations of the canonical Poisson bracket for the nonholonomic Chaplygin and the Borisov-Mamaev-Fedorov systems on zero-level of the area integral. I
• On the bi-Hamiltonian structure of the Chaplygin and Borisov-Mamaev-Fedorov systems at a zero constant of areas. II
• On the Poisson structures for the Chaplygin ball and its generalizations
• Topological analysis of one integrable system related to the rolling of a ball over a sphere
• Geometrization of the Chaplygin reducing-multiplier theorem
• Dynamical systems with non-integrable constraints, vakonomic mechanics, sub-Riemannian geometry, and non-holonomic mechanics
• On the Lie integrability theorem for the Chaplygin ball
• Modeling of spherical robots rolling on generic surfaces
• The phenomenon of reversal in the Euler-Poincaré-Suslov nonholonomic systems
• Hamiltonization of the generalized Veselova LR system
• On the Poisson structures for the nonholonomic Chaplygin and Veselova problems
• On the problem of a heavy homogeneous ball rolling without slipping over a fixed surface of revolution
• One invariant measure and different Poisson brackets for two non-holonomic systems
• Rolling of a homogeneous ball over a dynamically asymmetric sphere
• Regular and chaotic dynamics in the rubber model of a Chaplygin top
• Kinematics of spherical robots rolling over 3D terrains

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