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Dynamics and motion control of a capsule robot with an opposing spring

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Abstract

Non-classical locomotion systems have the perspective for a wide application in the vast fields of bio-medical and maintenance technology. Capsule bots are small, simple, and reliable realizations with a great potential for practical application. In this paper, the motion of a capsule-type mobile robot along a straight line on a rough horizontal plane is studied applying analytical and experimental methods. The robot consists of a housing and an internal body attached to the housing by a spring. The motion of the system is generated by a force that acts between the housing and the internal body and changes periodically in a pulse-width mode. The average velocity of the motion of the robot is studied as a function of the excitation parameters. The results from the model-based and experimental investigations agree with each other. It can be concluded that the presented robot design can be a basis for the creation of mobile robotic systems with locomotion properties that can be controlled by the parameters of a periodic actuation force.

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Acknowledgements

The research work reported here was partly supported by the Deutsche Forschungsgemeinschaft (Grant ZIM 540 / 19-2) and the Russian Foundation for Basic Research (Grant 17-51-12025).

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Authors and Affiliations

  1. Moscow Institute of Physics and Technology, Dolgoprudny, Russia

    Armen Nunuparov

  2. Laboratory of Robotics and Mechatronics, Institute for Problems in Mechanics of the Russian Academy of Sciences, Moscow, Russia

    Nikolay Bolotnik

  3. Technical Mechanics Group, Technische Universität Ilmenau, Ilmenau, Germany

    Felix Becker, Igor Zeidis & Klaus Zimmermann

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  1. Armen Nunuparov
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  2. Felix Becker
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  3. Nikolay Bolotnik
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  5. Klaus Zimmermann
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Correspondence to Igor Zeidis.

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Nunuparov, A., Becker, F., Bolotnik, N. et al. Dynamics and motion control of a capsule robot with an opposing spring. Arch Appl Mech 89, 2193–2208 (2019). https://doi.org/10.1007/s00419-019-01571-8

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  • DOI: https://doi.org/10.1007/s00419-019-01571-8

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