Dynamics of an inertially driven robot

• Autorzy: Fritzkowski P. , Starosta R.
• Języki publikacji: EN

Abstrakty

EN

An inertially-driven system that slides on a rough horizontal plane due to periodic oscillations of two internal bodies is studied. Three-phase internal motions with piecewise-constant relative accelerations are considered. It is shown that an always forward motion of the robot can be achieved. The effect of the model parameters on the displacement and average velocity of the system is analyzed.

Słowa kluczowe

EN

motion control; movable internal mass; vibration-driven robot

PL

sterowanie ruchem; ruchoma masa wewnętrzna

• Wydawca: Poznan University of Technology. Institute of Applied Mechanics
• Czasopismo: Vibrations in Physical Systems
• Rocznik: 2018
• Tom: Vol. 29
• Strony: art. no. 2018023
• Opis fizyczny: Bibliogr. 7 poz., 1 rys., wykr.

Twórcy

autor

Fritzkowski P.

• Institute of Applied Mechanics, Poznan University of Technology, ul. Jana Pawła II 24, 60-965 Poznan

autor

Starosta R.

• Institute of Applied Mechanics, Poznan University of Technology, ul. Jana Pawła II 24, 60-965 Poznan

Bibliografia

• 1. N. N. Bolotnik, I. M. Zeidis, K. Zimmermann, S. F. Yatsun, Dynamics of controlled motion of vibration-driven systems, J. Comput. Sys. Sc. Int., 45 (2006) 831 - 840.
• 2. F. L. Chernous’ko, On the motion of a body containing a movable internal mass, Doklady Physics, 50 (2005) 593 - 597.
• 3. F. L. Chernous’ko, Analysis and optimization of the motion of a body controlled by means of a movable internal mass, J. Appl. Math. Mech. - USS, 70 (2006) 819 - 842.
• 4. H.-B. Fang, J. Xu, Dynamics of a mobile system with an internal acceleration-controlled mass in a resistive medium, J. Sound Vibr., 330 (2011) 4002 - 4018.
• 5. H.-B. Fang, J. Xu, Controlled motion of a two-module vibration-driven system induced by internal acceleration-controlled masses, Arch. Appl. Mech., 82 (2012) 461 - 477.
• 6. T. Yu. Figurina, Optimal motion control for a system of two bodies on a straight line, J. Comput. Sys. Sc. Int., 46 (2007) 227 - 233.
• 7. N. A. Sobolev, K. S. Sorokin, Experimental investigation of a model of a vibration-driven robot with rotating masses, J. Comput. Sys. Sc. Int., 46 (2007) 826 - 835.

Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).