Rotation of a body with two movable internal masses on a rough plane

Sakharov, Alexander V.

doi:10.1016/j.jappmathmech.2015.07.003

Cited by 8 publications

(3 citation statements)

References 5 publications

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“…In [13], the motions of this system with the same function ξ 1 (t) were studied and the parameters of the control law which deliver a maximum to the average angular velocity of the body's rotation in the steady regime were found. 6.…”

Section: The Case Of Two Point Massesmentioning

confidence: 99%

Rotation of the body with movable internal masses around the center of mass on a rough plane

Sakharov

2015

Regul. Chaot. Dyn.

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We consider the motion of a system consisting of a rigid body and internal movable masses on a rough surface. The possibility of rotation of the system around its center of mass due to the motion of internal movable masses is investigated. To describe the friction between the body and the reference surface, a local Amontons -Coulomb law is selected. To determine the normal stress distribution in the contact area between the body and the surface, a linear dynamically consistent model is used. As examples we consider two configurations of internal masses: a hard horizontal disk and two material points, which move parallel to the longitudinal axis of the body symmetry in the opposite way. Motions of the system are analyzed for selected configurations.MSC2010 numbers: 70E18, 70E55, 70E60

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Section: The Case Of Two Point Massesmentioning

confidence: 99%

Rotation of the body with movable internal masses around the center of mass on a rough plane

Sakharov

2015

Regul. Chaot. Dyn.

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“…An interest in solid systems driven by inner movements of masses without outer movers, such as wheels, chain tracks, or legs, arises in last decade. A new class of mechanisms (robots, mechatronic systems) able to move in a resisting medium without external movers due to movement of internal bodies attracts attention [1][2][3][4][5][6][7][8][9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

“…In work [12] the two-dimensional motion of a system consisting of a hollow rigid body, resting on a rough plane, and two internal mobile point masses, capable of moving parallel to the longitudinal axis of symmetry of the body is considered. Friction in the contact area is modelled by a local Amontons-Coulomb law.…”

Section: Introductionmentioning

confidence: 99%

Model and Investigation of Dynamics of Solid System With Two Massive Eccentrics on a Rough Plane

Semendyaev¹,

Tsyganov²

2016

Proceedings of the VII European Congress on Computational Methods in Applied Sciences and Engineering (ECCOMAS Congress 2016)

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In this paper we investigate the solid system with internal rotating eccentrics as a movers. The system moves in plane with dry friction. Massive eccentrics rotating with variable angular velocity convert rotational motion into uneven translational. The motion is caused by inertia forces and friction between the system and the rough surface and occurs in short steps or slides. The equations of motion are derived under assumption of decreasing linear dependence of electric motor torque on angular velocity. We consider the motion of the platform and the pendulum, and then the resulting system is presented in a convenient form for numerical integration in MatLab. Runge-Kutta fourth-order method is used. Tracking of labels applied to the system is performed using time-lapse video and Adobe After Effects. The results of numerical integration of math model are presented and compared with experimental data obtained using a tracking program.

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Rectilinear Periodic Motions of Systems with Internal Bodies

Chernousko,

Bolotnik

2024

Dynamics of Mobile Systems With Controlled Configuration

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Rotation of a body with two movable internal masses on a rough plane

Cited by 8 publications

References 5 publications

Rotation of the body with movable internal masses around the center of mass on a rough plane

Rotation of the body with movable internal masses around the center of mass on a rough plane

Model and Investigation of Dynamics of Solid System With Two Massive Eccentrics on a Rough Plane

Rectilinear Periodic Motions of Systems with Internal Bodies

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