Abstract
Theoretical investigations concerning the motion of a straight chain of mass points interconnected with kinematical constraints are considered. The ground contact can be described by dry (discontinuous) friction. The controls are assumed in the form of periodic functions with zero average, shifted in phase to each other. There arises a spreading wave along the chain of mass points. In the case of small friction we derive a condition for the locomotion of the center of mass by means of an average method. Motion of the system can be generated both in case of isotropic and non-isotropic friction using specified controls, moreover the movement in the latter case in direction of the larger friction force. The obtained theoretical results give hints for the development of mobile robots applying the described principles of the motion.
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Zimmermann, K., Zeidis, I., Behn, C. (2010). An Approach to the Dynamics and Kinematical Control of Motion Systems Consisting of a Chain of Bodies. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_54
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DOI: https://doi.org/10.1007/978-3-7091-0277-0_54
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-0276-3
Online ISBN: 978-3-7091-0277-0
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