Title :
Oscillatory locomotion
Author :
Majewski, Tadeusz ; Alejos, Rubén
Author_Institution :
Dept. de Ing. Mec. y Mecatronica, Univ. de la Americas - Puebla, Cholula, Mexico
fDate :
Feb. 28 2011-March 2 2011
Abstract :
The paper presents the dynamic system that moves in continuous way thanks to its vibration. The principle of the method, the mathematical model, and some results are presented. Two or more segments models were taken for the analysis. It is shown that at presence of internal excitation and non-symmetrical Coulomb dry friction a motion with a constant average velocity is possible and this motion is stable. The average velocity is defined as a function of the frequency and amplitude of the excitation.
Keywords :
friction; mobile robots; pipes; robot dynamics; vibrations; Coulomb dry friction; excitation amplitude function; excitation frequency function; oscillatory locomotion; robot dynamic system; vibration; Force; Friction; Grippers; Mathematical model; Motion segmentation; Vibrations;
Conference_Titel :
Electrical Communications and Computers (CONIELECOMP), 2011 21st International Conference on
Conference_Location :
San Andres Cholula
Print_ISBN :
978-1-4244-9558-0
DOI :
10.1109/CONIELECOMP.2011.5749330
