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.
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
Bolotnik, N.N., Zeidis, I., Zimmermann, K., Yatsun, S.F.: Dynamics of controlled motions of vibration-driven systems. Journal of Computer and Systems Sciences International 45, 831–840 (2006)
Breguet, J.-M., Clavel, R.: Stick and slip actuators: design, control, performances and applications. In: Proc. International Symposium on Micromechatronics and Human Science (MHS), pp. 89–95. IEEE, New York (1998)
Chernousko, F.L.: The optimum rectilinear motion of a two-mass system. Journal of Applied Mathematics and Mechanics 66, 1–7 (2002)
Chernousko, F.L.: On the motion of a body containing a movable internal mass. Doklady Physics 50, 593–597 (2005)
Chernousko, F.L.: Analysis and optimization of the motion of a body controlled by means of a movable internal mass. Journal of Applied Mathematics and Mechanics 70, 915–941 (2006)
Chernousko, F.L.: Dynamics of a body controlled by internal motions. In: Hu, H.Y., Kreuzer, E. (eds.) Proc. IUTAM Symposium on Dynamics and Control of Nonlinear Systems with Uncertainty, pp.227–236, Springer, Dordrecht (2007)
Chernousko, F.L., Zimmermann, K, Bolotnik, N.N., Yatsun, S.F., Zeidis, I.: Vibration-driven robots. In: Proc. of the Workshop on Adaptive and Intelligent Robots: Present and Future, pp. 26–31. Moscow (2005)
Figurina, T.Yu.: Optimal control of the motion of a two-body system along a straight line. Journal of Computer and Systems Sciences International 46, 227–233 (2007)
Gradetsky, V., Solovtsov, V., Kniazkov, M., Rizzotto, G.G., Amato, P.: Modular design of electro-magnetic mechatronic microrobots. In: Proc. of the 6th International Conference on Climbing and Walking Robots CLAWAR, pp. 651–658. Catania (2003)
Li, H., Furuta, K., Chernousko, F.L.: A pendulum-driven cart via internal force and static friction. In: Proc. of the International Conference “Physics and Control”, pp. 15–17. St.-Petersburg (2005)
Li, H., Furuta, K., Chernousko, F.L.: Motion generation of the Capsubot using internal force and static friction. In: Proc. 45th Conference on Decision and Control, pp. 6575–6580. San Diego (2006)
Schmoeckel, F., Worn, H.: (2001). Remotely controllable mobile microrobots acting as nano positioners and intelligent tweezers in scanning electron microscopes (SEMs). In: Proc. International Conference on Robotics and Automation, pp. 3903–3913. New York (2001)
Vartholomeos, P., Papadopoulos, E.: Dynamics, design and simulation of a novel microrobotic platform employing vibration microactuators. Trans. ASME. Journal of Dynamic Systems, Measurement, and Control 128, 122–133 (2006)
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.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2009 Springer-Verlag New York
About this paper
Cite this paper
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
Download citation
DOI: https://doi.org/10.1007/978-0-387-95857-6_7
Published:
Publisher Name: Springer, New York, NY
Print ISBN: 978-0-387-95856-9
Online ISBN: 978-0-387-95857-6
eBook Packages: Mathematics and StatisticsMathematics and Statistics (R0)