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Dynamics of an inertially driven robot

Fritzkowski P., Starosta R.

Vibrations in Physical Systems

2018

Vol. 29

art. no. 2018023

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.