Dynamical behavior of a mobile system with two degrees of freedom near the resonance

The design of mobile robots that can move without wheels or legs is an important engineering and technological problem.Self-propelling mechanisms consisting of a body that has contact with a rough surface and moveable internal masses are considered.Mathematical models of such systems are presented i...

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Bibliographic Details
Published in:Acta mechanica Sinica 2011-02, Vol.27 (1), p.7-17
Main Authors: Zimmermann, Klaus, Zeidis, Igor
Format: Article
Language:English
Subjects:
Algebra
Anisotropy
Classical and Continuum Physics
Computational Intelligence
Degrees of freedom
Engineering
Engineering Fluid Dynamics
Horizontal
Mathematical analysis
Mathematical models
Research Paper
Robots
Theoretical and Applied Mechanics
Vibration
动力学行为
各向同性平面
平均方法
控制系统
移动机器人
自由度
表面粗糙
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Summary:The design of mobile robots that can move without wheels or legs is an important engineering and technological problem.Self-propelling mechanisms consisting of a body that has contact with a rough surface and moveable internal masses are considered.Mathematical models of such systems are presented in this paper.First,a model of a vibration driven robot that moves along a rough horizontal plane with isotropic dry friction is studied.It is shown that by changing the off-resonance frequency detuning in sign,one can control the direction of motion of the system.In addition,a locomotion system which moves in an environment with anisotropic viscous friction is considered.For all models,the method of averaging to obtain an algebraic equation for the steady-state＂average＂velocity of the system is used. Prototypes were constructed to compare the theoretical results with experimental ones.
ISSN:0567-7718
1614-3116
DOI:10.1007/s10409-011-0403-6