Abstract
A problem of changing of the orientation of a solid in a space by means of motion of the internal mass is under consideration. It is shown that it is possible for a solid to be arbitrarily reoriented due to special motions of the internal mass. Approaches to controlling the internal motions ensuring this reorientation are proposed.
Similar content being viewed by others
References
F. Schmoeckel and H. Worn, “Remotely Controllable Mobile Microrobots Acting as Nano Positioners and Intelligent Tweezers in Scanning Electron Microscopes,” in Proc. of the Int. Conf. on Robotics and Automation (IEEE), Seoul (Korea), May 21–26, 2001 (IEEE, New York., 2001), Vol. 4.
P. Vartholomeos and E. Papadopoulos, “Dynamics, Design and Simulation of a Novel Micro-Robotic Platform Employing Vibration Microactuators,” Trans. ASME, J. Dyn. Syst., Measur. Contr. 128 (1), 122–133 (2006).
V. Gradetsky, V. Solovtsov, M. Kniazkov, et al., “Modular Design of Electro-Magnetic Mechatronic Microrobots,” in Proc. of the 6th Int. Conf. on Climbing and Walking Robots (CLAWAR), Catania (Italy), September, 17–19, 2003 (Prof. Eng. Publ., Catania, 2003).
F. L. Chernous’ko, “Analysis and Optimization of the Motion of a Body Controlled by Means of a Movable Internal Mass,” Prikl. Mat. Mekh. 70 (6), 915–941 (2006) [J. Appl. Math. Mech. 70 (6), 819–842 (2006)].
F. L. Chernous’ko, “The Optimal Periodic Motions of a Two-Mass System in a Resistant Medium,” Prikl. Mat. Mekh. 72 (2), 202–215 (2008) [J. Appl. Math. Mech. 72 (2), 116–125 (2008)].
N. N. Bolotnik, T. Yu. Figurina, and F. L. Chernous’ko, “Optimal Control of the Rectilinear Motion of a Two-Body System in a Resistive Medium,” Prikl. Mat. Mekh. 76 (1), 3–22 (2012) [J. Appl. Math. Mech. 76 (1), 1–14 (2012)].
H. Li, K. Firuta, and F. L. Chernousko, “Motion Generation of the Capsubot Using Internal Force and Static Friction,” in Proc. of the 45th IEEE Conf. on Decision and Control (IEEE, San Diego, 2006).
F. L. Chernousko, “Locomotion of Multibody Robotic Systems: Dynamics and Optimization,” Theor. Appl. Mech. (Serbia) 45 (1), 17–33 (2018).
F. L. Chernousko, “Two-Dimensional Motions of a Body Containing Internal Moving Masses,” Meccanica 51 (12), 3203–3209 (2016).
F. L. Chernousko, “Optimal Control of the Motion of a Double-Mass System,” Dokl. Akad. Nauk 480 (5), 528–532 (2018).
A. M. Shmatkov, “Time-Optimal Rotation of a Body by Displacement of a Mass Point,” Dokl. Phys. 63 (8), 337–341 (2018).
Author information
Authors and Affiliations
Corresponding author
Additional information
Original Russian Text © F.L. Chernous’ko.
Translated from Prikladnaya Mekhanika i Tekhnicheskaya Fizika, 2019, Vol. 60, No. 2, pp. 107–112, March–April, 2019.
Rights and permissions
About this article
Cite this article
Chernous’ko, F.L. Controlling the Orientation of a Solid Using the Internal Mass. J Appl Mech Tech Phy 60, 278–283 (2019). https://doi.org/10.1134/S0021894419020093
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1134/S0021894419020093