Capsule-Type Vibration-Driven Robot with an Electromagnetic Actuator and an Opposing Spring: Dynamics and Control of Motion

Bolotnik, N.N.; Nunuparov, A.M.; Chashchukhin, V.G.

Авторы: Bolotnik N.N., Nunuparov A.M., Chashchukhin V.G.
Журнал: Journal of Computer and Systems Sciences International
Том: 55
Номер: 6
Год издания: 2016
Издательство: Maik Nauka/Interperiodica Publishing
Местоположение издательства: Russian Federation
Первая страница: 986
Последняя страница: 1000
Оригинальные версии: Капсульный вибрационный робот с электромагнитным приводом и возвратной пружиной: динамика и управление движением
DOI: 10.1134/S106423071605004X
Аннотация: A model of a mobile capsule robot that consists of the housing and internal body is considered. The internal body can move relative to the housing along a straight line. The internal body is attached to the housing by a spring. The system motion is excited by a force that acts between the housing and the internal body. The force changes in a pulse-width periodic mode. The robot's motion along a straight line on a rough horizontal plane is investigated. It is assumed that the dry Coulomb friction acts between the housing and the plane. The dependence of the average steady state robot velocity on excitation parameters is analyzed. It is established that it is possible to control the magnitude and direction of the robot motion by changing the period and the duty cycle of the pulse-width excitation signal. The effect of the variation in the direction of the robot motion due to changing the excitation period is observed. This effect is associated with the phenomenon of resonance.
Добавил в систему: Левитин Александр Леонидович

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Capsule-Type Vibration-Driven Robot with an Electromagnetic Actuator and an Opposing Spring: Dynamics and Control of Motionстатья

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