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Nelin. Dinam., 2019, Volume 15, Number 4, Pages 623–632 (Mi nd689)  

An Investigation of Motion of a Crawling Robot with Supports with Controllable Friction

L. Yu. Vorochaevaa, S. I. Savinb, A. S. Yatsuna

a Southwest State University, ul. 50 let Oktryabrya 94, Kursk, 305040 Russia
b Innopolis University, ul. Universitetskaya 1, Innopolis, 420500 Russia

Abstract: This paper deals with the gait of a robot crawling on a horizontal rough surface with dry friction. A distinctive feature of the device is the presence of two supporting elements with a controlled coefficient of friction, which allows for alternately fixing the supports on the surface. As a result of numerical simulation, the patterns (laws) of influence on the motion characteristics of the mass-dimensional and control parameters of the robot, as well as the parameters of the supporting surface, are obtained, so that it is possible to find application in the design of the specified devices.

Keywords: crawling robot, supporting element, controlled friction coefficient, dry friction model

Funding Agency Grant Number
Ministry of Education and Science of the Russian Federation MK-200.2019.1
This work was carried out within the framework of the Presidential Grant MK-200.2019.1.


DOI: https://doi.org/10.20537/nd190421

Full text: PDF file (375 kB)
References: PDF file   HTML file

MSC: 93B18, 93B52
Received: 31.05.2019
Accepted:27.07.2019

Citation: L. Yu. Vorochaeva, S. I. Savin, A. S. Yatsun, “An Investigation of Motion of a Crawling Robot with Supports with Controllable Friction”, Nelin. Dinam., 15:4 (2019), 623–632

Citation in format AMSBIB
\Bibitem{VorSavYat19}
\by L. Yu. Vorochaeva, S. I. Savin, A. S. Yatsun
\paper An Investigation of Motion of a Crawling Robot with Supports with Controllable Friction
\jour Nelin. Dinam.
\yr 2019
\vol 15
\issue 4
\pages 623--632
\mathnet{http://mi.mathnet.ru/nd689}
\crossref{https://doi.org/10.20537/nd190421}


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