Controlled Motions of Multibody Systems along a Plane
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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.
Key wordsMultibody system control dry friction snake-like locomotion
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