Dynamics of a Body Controlled by Internal Motions
Progressive motions of a body containing internal moving masses are analyzed in the presence of resistance forces acting between the body and the environment. The cases of Coulomb’s dry friction and nonlinear resistance forces are considered. The internal masses perform periodic motions subject to constraints imposed on the displacements, velocities, and accelerations. Optimal relative periodic motions of internal masses are determined that correspond to the maximal average speed of the system as a whole. Experimental data confirm the obtained theoretical results.
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