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首页> 外文期刊>Zeitschrift fur Angewandte Mathematik und Mechanik >Periodic locomotion of a two-body crawling system along a straight line on a rough inclined plane
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Periodic locomotion of a two-body crawling system along a straight line on a rough inclined plane

机译：沿着粗糙倾斜平面上直线的双体爬行系统的周期性运动

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摘要

The motion of a two-body limbless crawler along a line of maximum slope on an inclined plane is considered. Dry friction (anisotropic in the general case) acts between the system's bodies and the underlying plane. The motion is excited and controlled by a periodic change in the distance between the bodies. Of most interest is the periodic upward motion of the system, when the velocity of the system's center of mass changes periodically with a period coinciding with that of the excitation. A mathematical model of the crawler is presented. An upper bound for the inclination angles of the plane at which the system can move upward is estimated. This estimate is based on the averaged model, which implies smallness of the coefficient of friction. Numerical and physical simulation is performed to verify the theoretical results and define an applicability area for them.
机译：考虑双体倾斜履带沿倾斜平面上的最大斜率线的运动。 干摩擦（一般情况下的各向异性）在系统的体和底层平面之间作用。 通过主体之间的距离的周期性变化来激发和控制运动。 大多数兴趣是系统的周期性向上运动，当系统质量中心的速度周期性地随着激发的时期与激发重合而变化时。 提出了履带的数学模型。 估计系统可以向上移动的平面的倾斜角的上限。 该估计基于平均模型，这意味着摩擦系数小。 执行数值和物理仿真以验证理论结果并为它们定义适用性区域。

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