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Plane-Parallel Motion of a Friction-Powered Robot Moving Along a Rough Horizontal Plane

  • Marat DosaevEmail author
  • Vitaly Samsonov
  • Andrei Holub
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

The design of a friction-powered robot is proposed. The robot is driven by a motion of internal masses. It has one unbalanced rotor and one flywheel. A mathematical model of its plane-parallel motion is constructed. Equations of translational motion are studied. Angular accelerations of rotating structural elements are selected as control functions. A control variant is proposed, in which the forward movement of the body is realized.

Keywords

Inertial robot Mathematical model Friction Control algorithm Periodic regime 

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Lomonosov Moscow State UniversityMoscowRussia
  2. 2.National Taiwan University of Science and TechnologyTaipeiTaiwan
  3. 3.Belarusian State UniversityMinskRepublic of Belarus

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