Abstract 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.
Corresponding Authors:
Igor Zeidis
E-mail: igor.zeidis@tu-ilmenau.de
Cite this article:
KLAUS -Zimmermann,IGOR -Zeidis. Dynamical behavior of a mobile system with two degrees of freedom near the resonance[J]. Acta Mechanica Sinica, 2011, 27(1): 7-17.
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