Study of controlled motion bionic mini robot

Innovations and Prospects of Development of Mining Machinery and Electrical Engineering

矿业工程;电工学

Politov, E.N.^1 ; Rukavitsyn, A.N.^1

Southwest State University, 94, 50 Let Octiabria Av., Kursk

305040, Russia^1

关键词: Center of mass;    Controlled motions;    Controlled parameter;    Minirobots;    Rough surfaces;    Support surfaces;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/87/8/082040/pdf
DOI  :  10.1088/1755-1315/87/8/082040

来源: IOP

【 摘 要 】

The article describes a dynamic model of a bionic mini-robot capable of moving on a rough surface or separately from it. Differential equations describing the robot's motion in the phases of flight and movement on the support surface were obtained. The debalance's angular velocity was used as the controlled parameter. The results of numerical modelling of the equations of motion supported theoretical conclusions on the character of the dependence of height and length of a jump on the frequency of rotation. It was simultaneously established that the shape of the trajectory of the center of mass depends on the controlled parameter.