 | | Journal of Applied
Mathematics and Mechanics
Russian Academy of Sciences | | Founded
in January 1936
(Translated from 1958)
Issued 6 times a year
ISSN 0021-8928
(print version) |
Archive of Issues
| Total articles in the database: | | 10512 |
| In Russian (ÏÌÌ): | | 9713
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| In English (J. Appl. Math. Mech.): | | 799 |
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| F.L. Chernous’ko and M.M. Shunderyuk, "The influence of friction forces on the dynamics of a two-link mobile robot," J. Appl. Math. Mech. 74 (1), 13-23 (2010) |
| Year |
2010 |
Volume |
74 |
Issue |
1 |
Pages |
13-23 |
| Title |
The influence of friction forces on the dynamics of a two-link mobile robot |
| Author(s) |
F.L. Chernous’ko (Moscow, Russia, chern@ipmnet.ru)
M.M. Shunderyuk (Moscow, Russia, shunderyuk@gmail.com) |
| Abstract |
Controlled periodic motions of a planar two-link robot in a horizontal plane when there is dry friction are considered. The two-link is controlled by means of an internal torque applied to the joint connecting the links. The dynamics of the two-link, taking into account the influence of friction forces and the constrained nature of the control torque, is analysed assuming that the angle between the links is small. The conventional locomotion algorithm of a two-link is modified to ensure rectilinear displacement of the two-link. The influence of various geometrical and mechanical parameters of the system on the average rate of locomotion and on the power consumption during the motion of the two-link robot in a plane is investigated. |
| Received |
28 July 2009 |
| Link to Fulltext |
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