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Dynamic Control
Natural Frequency
Phase Shift
Steady State
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Dynamics of a twomodule vibrationdriven system moving along a rough horizontal plane
Dynamics of a twomodule vibrationdriven system moving along a rough horizontal plane,10.1007/s1104400991582,Multibody System Dynamics,K. Zimmerma
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Dynamics of a twomodule vibrationdriven system moving along a rough horizontal plane
(
Citations: 3
)
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K. Zimmermann
,
I. Zeidis
,
N. Bolotnik
,
M. Pivovarov
A rectilinear motion of a system of two bodies connected by a spring on a rough horizontal plane is studied. The motion of the system is excited by two identical unbalanced rotors based on the respective bodies. Major attention is given to the steadystate motion. A nearlyresonant excitation mode, when the angular velocities of the rotor are close to the
natural frequency
of the system, is considered. A set of algebraic equations for determining an approximate value of the average steadystate velocity of the entire system is obtained for the case of small friction. It is shown that control of the steadystate motion can be provided by changing the
phase shift
between the rotations of the rotors and the sign of the resonant detuning measured by the difference between the angular velocity of the rotors and the
natural frequency
of the system. By varying the
phase shift
one can control the magnitude of the average velocity, and varying the detuning enables one to change the direction of the motion.
Journal:
Multibody System Dynamics  MULTIBODY SYST DYN
, vol. 22, no. 2, pp. 199219, 2009
DOI:
10.1007/s1104400991582
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Citation Context
(2)
...When the control force is applied to an internal mass, the reaction force is applied to the body and changes its velocity, which affects the resistance force exerted on the body by the environment [
25
]...
...In context of vibrationdriven locomotion systems, this effect is also described in [22], [
25
], and [26] with other actuating mechanisms, based on the vibration of rigid components of standard discrete systems...
K. Zimmermann
,
et al.
Vibrationdriven mobile robots based on magnetosensitive elastomers
...Work [
19
] devoted to a system composed of two identical modules connected by a linear spring...
...As one can see in [
19
], a twomodule vibrationdriven system has some advantages over onemodule system...
...Consequently, being different with [
19
], the steadystate velocity will not change its direction if we change the sign of the offresonance detuning σ...
HongBin Fang
,
et al.
Controlled motion of a twomodule vibrationdriven system induced by i...
References
(28)
Multibody systems with unilateral constraints
(
Citations: 4
)
F. Pfeiffer
Journal:
Pmm Journal of Applied Mathematics and Mechanics  PMM J APPL MATH MECHENGL TR
, vol. 65, no. 4, pp. 665670, 2001
The motion of a threelink system along a plane
(
Citations: 2
)
F. L. Chernous'ko
Journal:
Pmm Journal of Applied Mathematics and Mechanics  PMM J APPL MATH MECHENGL TR
, vol. 65, no. 1, pp. 1318, 2001
The wavelike motion of a multilink system on a horizontal plane
(
Citations: 2
)
F. L Chernous'ko
Journal:
Pmm Journal of Applied Mathematics and Mechanics  PMM J APPL MATH MECHENGL TR
, vol. 64, no. 4, pp. 497508, 2000
The motion of a multilink system along a horizontal plane
(
Citations: 6
)
F. L. Chernous'ko
Journal:
Pmm Journal of Applied Mathematics and Mechanics  PMM J APPL MATH MECHENGL TR
, vol. 64, no. 1, pp. 515, 2000
Serpentine locomotion with robotic snakes
(
Citations: 82
)
M. Sato
,
M. Fukaya
,
T. Iwasaki
Journal:
IEEE Control Systems Magazine  IEEE CONTROL SYST MAG
, vol. 22, no. 1, pp. 6481, 2002
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Citations
(3)
Vibrationdriven mobile robots based on magnetosensitive elastomers
K. Zimmermann
,
V. Bohm
,
I. Zeidis
Conference:
IEEE/ASME International Conference on Advanced Intelligent Mechatronics  AIM
, pp. 730735, 2011
Motion of a mechanism along a rough inclined plane using the motion of internal oscillating masses
K. S. Sorokin
Journal:
Journal of Computer and Systems Sciences International  J COMPUT SYST SCI INTENGL TR
, vol. 48, no. 6, pp. 9931001, 2009
Controlled motion of a twomodule vibrationdriven system induced by internal accelerationcontrolled masses
HongBin Fang
,
Jian Xu
Journal:
Archive of Applied Mechanics  ARCH APPL MECH
, pp. 117