Abstract
It is well known that a body containing internal masses can move in a resistive medium, if the internal masses perform oscillations relative to the body. In this chapter, progressive motions of a body carrying movable internal masses are considered for various resistance forces acting upon the body. The cases of linear and quadratic resistance as well as Coulomb’s dry friction forces, both isotropic and anisotropic, are analyzed. Special classes of periodic motions of the internal masses are considered under constraints imposed on relative displacements, velocities, and accelerations of these masses. Optimal parameters of the relative internal motions are determined that correspond to the maximal average speed of the system as a whole. Results of the computer simulation and experimental data confirm the obtained theoretical results. The principle of motion analyzed in this chapter can be used for mobile robots, especially mini-robots, moving in tubes, in aggressive media, and in complex environment.
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Acknowledgments
The research was supported by the Russian Foundation for Basic Research (Grants 07–01–92109 and 07–01–12015) and by the Program for the Support of Leading Russian Scientific Schools.
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Chernousko, F.L. (2009). Optimal Motions of Multibody Systems in Resistive Media. In: Variational Analysis and Aerospace Engineering. Springer Optimization and Its Applications, vol 33. Springer, New York, NY. https://doi.org/10.1007/978-0-387-95857-6_7
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DOI: https://doi.org/10.1007/978-0-387-95857-6_7
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