Plane-Parallel Motion of a Friction-Powered Robot Moving Along a Rough Horizontal Plane
The design of a friction-powered robot is proposed. The robot is driven by a motion of internal masses. It has one unbalanced rotor and one flywheel. A mathematical model of its plane-parallel motion is constructed. Equations of translational motion are studied. Angular accelerations of rotating structural elements are selected as control functions. A control variant is proposed, in which the forward movement of the body is realized.
KeywordsInertial robot Mathematical model Friction Control algorithm Periodic regime
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