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On periodic modes of motion of a vibrating robot in a horizontal plane with anisotropic friction

ACTA ASTRONAUTICA 2025年 226卷 113-118页

作者： Shamin, A. Y. Rachkov, A. A. Natl Res Univ Moscow Aviat Inst Volokolamskoye Sh 4 Moscow 125993 Russia Moscow Inst Phys & Technol Inst Sky Lane9 Dolgoprudnyi 141701 Moscow Region Russia

The study of various celestial bodies is of great interest at the present time. Soil studies are being conducted. Vibrating robots could be possible tools for implementing the missions involving moving on the surface of celestial bodies. At the same time, such missions must be safe and sustainable. Such missions are very expensive. And they require high-quality modeling. The dynamics of a vibrating robot is investigated in this work. These structures can move on the surface of various celestial bodies, such as Mars, the Moon or asteroids. Various models can be used as a model of the contact interaction of bodies with a surface, in particular the AmontonCoulomb law of friction. This paper is aimed at studying a mechanical system consisting of a rigid body (outer body) placed on a horizontal rough plane and of an internal moving mass moving inside the outer body in a circle lying in a vertical plane, so that the radius vector of the point has a constant angular velocity. Based on the general properties of the solutions, possible periodic modes and their features depending on the parameters of the problem are considered. All qualitatively different solutions in this case are described.

关键词： dry friction vibration robot Anisotropic friction Capsule robot

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Serpentine motion of a trimaran robot

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 2024年第3期238卷 737-745页

作者： Dosaev, Marat Golovanov, Sergey Klimina, Liubov Selyutskiy, Yury Lomonosov Moscow State Univ Inst Mech Moscow Russia Lomonosov Moscow State Univ Inst Mech Michurinskiy Pr 1 Moscow 119991 Russia

An aquatic robot is proposed that moves due to the motion of an internal flywheel. The body of the robot represents a trimaran that consists of a capsule and three floats rigidly attached to it. The floats are submerged into the water and ensure that the capsule is afloat. The horizontal cross-section of each float has the shape of an airfoil. The body moves in a horizontal plane. The rotation axis of the internal flywheel is vertical. The control system makes the flywheel to oscillate, which results in oscillations of the robot body together with the floats. It is known that, when an airfoil oscillates in pitch in fluid, a thrust force is produced. As a result, the center of mass of the body moves along a serpentine trajectory. The goal of the study is to describe the effect of geometrical parameters of the robot and coefficients of the control law on the average speed of propulsion. A quasi-steady model is used to describe the hydrodynamic forces acting upon the trimaran. In order to take into account non-steady effects, added masses are considered. This approach allows for describing the robot dynamics with the ODE system. Numerical simulation of the system behavior is performed. Attracting periodic solutions are found using the relaxation method. Parametric analysis of such solutions is performed. A laboratory model is manufactured, and a series of experiments is performed. It is shown theoretically and experimentally that the speed of propulsion of the robot depends non-monotonically on the control frequency.

关键词： Trimaran internal flywheel vibration robot propulsion in medium control

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Algorithm for controlling an inertioid robot with a flywheel and an unbalance in conditions of restrictions on the angular acceleration of the unbalance

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APPLIED MATHEMATICAL MODELLING 2022年 109卷 797-807页

作者： Dosaev, Marat Lomonosov Moscow State Univ Inst Mech Michurinsky prosp 1 Moscow 119192 Russia

The plane-parallel motion of a vibrating robot containing one unbalanced rotor and one flywheel is considered. The robot body is supported by two points on a rough supporting plane. The friction is modeled with Coulomb's law. The motion is controlled by the angular acceleration of the unbalanced rotor and the flywheel. The control strategy implies the alternation of two modes. In one mode, the unbalanced rotor gains the required angular momentum using the friction of the body against the surface. In the second mode, the body is lifted off the surface and moved in the desired direction. The first integrals of the unbalanced rotor rotation equations are found for both modes. It is shown that if no restrictions are imposed on the angular acceleration of the rotor then the angular velocity of the rotor tends to infinity. An algorithm for controlling the motion of the robot's body in a given direction is proposed that takes into account the constraint on the angular acceleration of the unbalanced rotor. Motion modes are added with constant control and control stabilizing the angular velocity of the unbalanced rotor. The numerical simulation of the robot motion with the proposed control was performed in a wide range of values of the friction coefficient. It is shown that, in some cases, several revolutions of the unbalanced rotor are required in order to gain the required angular momentum. (c) 2022 Published by Elsevier Inc.

关键词： vibration robot Mathematical model Control algorithm Control constraint

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Construction of control algorithm in the problem of the planar motion of a friction-powered robot with a flywheel and an eccentric weight

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APPLIED MATHEMATICAL MODELLING 2021年第Part2期89卷 1517-1527页

作者： Dosaev, Marat Samsonov, Vitaly Hwang, Shyh-Shin Lomonosov Moscow State Univ Inst Mech Michurinsky Prosp 1 Moscow 119192 Russia Chien Hsin Univ Sci & Technol Dept Mech Engn 229 Chien Hsin Rd Jhong Li Dist 32097 Taoyuan County Taiwan

A robot supported by two points on a supporting rough plane is considered. The robot is driven by displacement of internal masses and friction against the surface of the support. The robot body contains two motors that rotate one unbalanced rotor (eccentric weight) and one flywheel. A mathematical model of a plane-parallel robot motion is constructed. Friction is modeled using Coulomb's law. The angular accelerations of the rotor and the fly-wheel are used as control functions. A technique is proposed for evaluating the coefficient of friction between the robot body and the supporting plane. An algorithm for controlling the motion of the robot body in the desired direction using the obtained value of the coefficient of friction is proposed. An estimate of the implementation time of the algorithm is given. To assess the achievable body speed, a numerical calculation is implemented. The rectilinear translational motion of the body is carried out for the selected set of parameters in a wide range of friction coefficients. It is shown that an increase in friction increases the acceleration efficiency. (C) 2020 Elsevier Inc. All rights reserved.

关键词： vibration robot Dry friction Mathematical model Control algorithm

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