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Nelineinaya Dinamika
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Nelineinaya Dinamika
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Vibroimpact Mobile Robot

descriptionPublicationkeyboard_double_arrow_right Article 01 Jan 2021Publisher:Izhevsk Institute of Computer ScienceJournal:Nelineinaya Dinamika, volume 17, pages 429-436 (issn: 2658-5324, eissn: 2658-5316, Copyright policy )
Authors: Ivanov, Alexander P.;

doi: 10.20537/nd210405

Vibroimpact Mobile Robot

Abstract

A simple model of a capsule robot is studied. The device moves upon a rough horizontal plane and consists of a capsule with an embedded motor and an internal moving mass. The motor generates a harmonic force acting on the bodies. Capsule propulsion is achieved by collisions of the inner body with the right wall of the shell. There is Coulomb friction between the capsule and the support, it prevents a possibility of reversal motion. A periodic motion is constructed such that the robot gains the maximal average velocity.

Keywords

Robot dynamics and control of rigid bodies, Coulomb friction, capsule robots, vibroimpact dynamics

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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
0
Average
Average
Average
gold