Journal of Applied Mathematics and Mechanics (about journal) 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)

Russian Russian English English About Journal | Issues | Editorial Board | Contact Us
 


IssuesArchive of Issues2010-1pp.13-23

Archive of Issues

Total articles in the database: 10482
In Russian (ÏÌÌ): 9683
In English (J. Appl. Math. Mech.): 799

<< Previous article | Volume 74, Issue 1 / 2010 | Next article >>
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
<< Previous article | Volume 74, Issue 1 / 2010 | Next article >>
Orphus SystemIf you find a misprint on a webpage, please help us correct it promptly - just highlight and press Ctrl+Enter

101 Vernadsky Avenue, Bldg 1, Room 245, 119526 Moscow, Russia (+7 495) 434-2149 pmm@ipmnet.ru pmmedit@ipmnet.ru https://pmm.ipmnet.ru
Founders: Russian Academy of Sciences, Ishlinsky Institute for Problems in Mechanics RAS
© Journal of Applied Mathematics and Mechanics
webmaster
Rambler's Top100