Robotic vibro engine motion analysis

Abstract

Vibro engine movement is viewed in a horizontal or inclined plane. The mathematical model includes a complete body of motion with a sliding or rotating engine inside (with extra mass). In general, the system has a minimum of four degrees of freedom (three degrees of freedom for the frame, one for relative motion of the internal mass). If, in addition to the vibro engine (robot), the towed object is added, then there may even be five to seven degrees of freedom. In the process of generating system motion, additional micro-compression with the foundation takes place. Computer technology was used in the study of the dynamics of such a complex object. It has been found that the main parameter of the drag effect is the slip friction coefficient, which should be chosen as maximally possible or as necessary to use sharps. The results of modeling are presented. For example, it is noted that the average speed can be up to 0.5 m•s -1 . The ability to pull a load on a robot has been analyzed. It is understood that in this case the driving speed is reduced. The system can be used for moving robotic objects.

On the Dynamics of a Biped upon a Moving Rough Plane

“…Consequently, the average speed will increase by a factor of more than two. For this purpose, one can decrease the coefficient μ A or increase h. This idea is implemented in [21] in a similar system.…”