On Motion of Chaplygin Sleigh on a Horizontal Plane with Dry Friction

2019 ◽  
Vol 54 (5) ◽  
pp. 632-637
Author(s):  
A. V. Karapetyan ◽  
A. Yu. Shamin
Keyword(s):  
Dry Friction ◽  
Horizontal Plane ◽  
Chaplygin Sleigh

Limit Cycle Analysis and Control of the Dissipative Chaplygin Sleigh

2017 ◽  
Author(s):  
Vitaliy Fedonyuk ◽  
Phanindra Tallapragada ◽  
Yongqiang Wang
Keyword(s):  
Limit Cycle ◽  
Limit Cycles ◽  
Horizontal Plane ◽  
Translational Velocity ◽  
Periodic Forcing ◽  
Fluid System ◽  
Chaplygin Sleigh ◽  
Analysis Techniques ◽  
And Control ◽  
Gaining Insight

There are many types of systems in both nature and technology that exhibit limit cycles under periodic forcing. Sometimes, especially in swimming robots, such forcing is used to propel a body forward in a plane. Due to the complexity in studying a fluid system it is often useful to investigate the dynamics of an analogous land model. Such analysis can then be useful in gaining insight about and controlling the original fluid system. In this paper we investigate the behavior of the Chaplygin sleigh under the effect of viscous dissipation and sinusoidal forcing. This is shown to behave in a similar manner as certain robotic fish models. We then apply limit cycle analysis techniques to predict the behavior and control the net translational velocity of the sleigh in a horizontal plane.

scholarly journals Oscillations Control of Rocking-Block-Type Buildings by the Addition of a Tuned Pendulum

2016 ◽  
Vol 2016 ◽  
pp. 1-11 ◽  
Author(s):  
Luca Collini ◽  
Rinaldo Garziera ◽  
Kseniia Riabova ◽  
Mariya Munitsyna ◽  
Alessandro Tasora
Keyword(s):  
Numerical Simulations ◽  
Approximation Method ◽  
Dry Friction ◽  
Mechanical Model ◽  
Horizontal Plane ◽  
Galerkin Approximation ◽  
Block Type ◽  
Theoretical Part ◽  
Lagrange Formulation ◽  
Rocking Block

This study deals with the dynamical evolutions exhibited by a simple mechanical model of building, comprising a parallelepiped standing on a horizontal plane. The main goal is the introduction of a pendulum in order to reduce oscillations. The theoretical part of the work consists of a Lagrange formulation and Galerkin approximation method, and dry friction has also been considered. From the analytical/numerical simulations, we derive some important conclusions, providing us with the tools suitable for the design of absorbers in practical cases.

scholarly journals Overcoming a stack of rough cylinders by a six-legged robot

2021 ◽  
pp. 1-28
Author(s):  
Yury Filippovich Golubev ◽  
Victor Vladimirovich Korianov
Keyword(s):  
Computer Modeling ◽  
Dry Friction ◽  
Horizontal Plane ◽  
Numerical Experiments ◽  
Rolling Friction ◽  
Legged Robot ◽  
Equilibrium Conditions ◽  
Modeling Tools ◽  
The Third

A method has been developed for overcoming obstacles in the form of a stack of rough cylinders of different radii by a six-legged robot. Two of the cylinders are lying on a horizontal plane and the third one is lying on the two mentioned above. The cylinders are under the influence of gravity, dry friction, and rolling friction. The equilibrium conditions of the system were found when the system is under the influence of a force due to the support of the robot on the system of cylinders. Using computer modeling tools, an algorithm for overcoming the stack that does not destroy the structure of the obstacle was developed. The results of numerical experiments and corresponding video materials are presented.

Snake-Like Locomotions of Multilink Mechanisms

2003 ◽  
Vol 9 (1-2) ◽  
pp. 235-256 ◽  
Author(s):  
F. L. Chernousko
Keyword(s):  
Dry Friction ◽  
Horizontal Plane ◽  
Sufficient Conditions ◽  
Numerical Results ◽  
Mechanical Parameters ◽  
Average Speed ◽  
Optimal Values ◽  
Rotational Motions

Snake-like locomotions of a three-member linkage equipped with actuators are modeled and investigated. Longitudinal, lateral, and rotational motions of the mechanism along a horizontal plane in the presence of the dry friction are analyzed. The desired motions are presented as a combination of more simple elementary motions. Sufficient conditions are deduced under which these motions are possible. The dependence of the average speed of motions on various geometrical and mechanical parameters is investigated. The optimal values of the parameters which maximize the speed are obtained. The numerical results are presented and discussed.

scholarly journals Dynamics of a body sliding on a rough plane and supported at three points

2016 ◽  
Vol 43 (2) ◽  
pp. 169-190 ◽  
Author(s):  
Alexey Borisov ◽  
Ivan Mamaev ◽  
Nadezhda Erdakova
Keyword(s):  
Dry Friction ◽  
Horizontal Plane ◽  
Center Of Mass ◽  
Experimental Studies ◽  
Friction Forces ◽  
System Parameters ◽  
Pure Rotation ◽  
Flat Base ◽  
Rough Plane ◽  
Asymptotic Motion

This paper is concerned with the problem of a rigid body (tripod) moving with three points in contact with a horizontal plane under the action of dry friction forces. It is shown that the regime of asymptotic motion (final dynamics) of the tripod can be pure rotation, pure sliding, or sliding and rotation can cease simultaneously, which is determined by the position of the tripod?s supports relative to the radius of inertia. In addition, the dependence of the trajectory of the center of mass on the system parameters is investigated. A comparison is made with the well-known theoretical and experimental studies on the motion of bodies with a flat base.

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