Abstract
Motions of multibody systems along a horizontal plane are investigated in the presence of dry friction forces acting between the system and the plane. The dry friction forces obey Coulomb’s law. The motions are controlled by actuators installed at the joints of the system. Various configurations of multibody systems are analyzed in which the bodies are connected by prismatic or revolute joints. Periodic motions of the systems along the plane are constructed. Optimal parameters corresponding to the maximum average speed are evaluated. The obtained results are related to applications in robotics and biomechanics of locomotions.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
James Gray, Animal Locomotion, London: Weidenfeld & Nicolson, 1968.
S. Hirose, Biologically Inspired Robots: Snake-like Locomotors and Manipulators. Oxford: Oxford University Press, 1993.
J. Ostrowski and J. Burdick, “Gait kinematics for a serpentine robot,” Proceedings of the IEEE International Conference on Robotics and Automation 2, Minneapolis, 1996.
Z.Y. Bayraktaroglu and P. Blazevic, “Snake-like locomotion with a minimal mechanism,” Proceedings of the Third International Conference on Climbing and Walking Robots CLAWAR 2000, Madrid, 2000.
F.L. Chernousko, “The optimum rectilinear motion of a two-mass system,” J. Applied Mathematics and Mechanics 66(1):1–7, 2002.
F.L. Chernousko, “Controllable motions of a two-link mechanism along a horizontal plane,” J. Applied Mathematics and Mechanics 65(4):565–577, 2001.
F.L. Chemousko, “The motion of a multilink system along a horizontal plane,” J. Applied Mathematics and Mechanics 64(4):497–508, 2000.
F.L. Chernousko, “On the motion of a three-member linkage along a plane,” J. Applied Mathematics and Mechanics 65(1):13–18, 2001.
F.L. Chernousko, “The wavelike motion of a multi-link mechanisms,” J. Applied Mathematics and Mechanics 64(4):497–508, 2000.
F.L. Chernousko, “Snake-like locomotions of multilink mechanisms,” J. Vibration and Control 9:235–256, 2003.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer
About this paper
Cite this paper
Chernousko, F. (2005). Controlled Motions of Multibody Systems along a Plane. In: Rega, G., Vestroni, F. (eds) IUTAM Symposium on Chaotic Dynamics and Control of Systems and Processes in Mechanics. Solid Mechanics and its Applications, vol 122. Springer, Dordrecht. https://doi.org/10.1007/1-4020-3268-4_37
Download citation
DOI: https://doi.org/10.1007/1-4020-3268-4_37
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-3267-7
Online ISBN: 978-1-4020-3268-4
eBook Packages: EngineeringEngineering (R0)