On periodic modes of motion of a vibrating robot in a horizontal plane with anisotropic friction

IF 3.1 2区物理与天体物理 Q1 ENGINEERING, AEROSPACE

Acta Astronautica Pub Date : 2024-11-22 DOI:10.1016/j.actaastro.2024.11.042

A.Y. Shamin , A.A. Rachkov

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引用次数: 0

Abstract

The study of various celestial bodies is of great interest at the present time. Soil studies are being conducted. Vibrating robots could be possible tools for implementing the missions involving moving on the surface of celestial bodies. At the same time, such missions must be safe and sustainable. Such missions are very expensive. And they require high-quality modeling. The dynamics of a vibrating robot is investigated in this work. These structures can move on the surface of various celestial bodies, such as Mars, the Moon or asteroids. Various models can be used as a model of the contact interaction of bodies with a surface, in particular the Amonton-Coulomb law of friction.

This paper is aimed at studying a mechanical system consisting of a rigid body (outer body) placed on a horizontal rough plane and of an internal moving mass moving inside the outer body in a circle lying in a vertical plane, so that the radius vector of the point has a constant angular velocity. Based on the general properties of the solutions, possible periodic modes and their features depending on the parameters of the problem are considered. All qualitatively different solutions in this case are described.

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来源期刊

Acta Astronautica 工程技术-工程：宇航

CiteScore

7.20

自引率

22.90%

发文量

599

审稿时长

53 days

期刊介绍： Acta Astronautica is sponsored by the International Academy of Astronautics. Content is based on original contributions in all fields of basic, engineering, life and social space sciences and of space technology related to: The peaceful scientific exploration of space, Its exploitation for human welfare and progress, Conception, design, development and operation of space-borne and Earth-based systems, In addition to regular issues, the journal publishes selected proceedings of the annual International Astronautical Congress (IAC), transactions of the IAA and special issues on topics of current interest, such as microgravity, space station technology, geostationary orbits, and space economics. Other subject areas include satellite technology, space transportation and communications, space energy, power and propulsion, astrodynamics, extraterrestrial intelligence and Earth observations.