Dynamics of an inertially driven robot
[ 1 ] Instytut Mechaniki Stosowanej, Wydział Budowy Maszyn i Zarządzania, Politechnika Poznańska | [ P ] employee
2018
scientific article
english
- motion control
- movable internal mass
- vibration-driven robot
EN An inertially-driven system that slides on a rough horizontal plane due to periodic oscillations of two internal bodies is studied. Three-phase internal motions with piecewise-constant relative accelerations are considered. It is shown that an always forward motion of the robot can be achieved. The effect of the model parameters on the displacement and average velocity of the system is analyzed.
2018023-1 - 2018023-9
Article Number: 2018023
CC BY (attribution alone)
open journal
final published version
at the time of publication
public
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