Name
Abstract | ||
|---|---|---|
A walking robot is considered. For leg lightness it is suggested in some cases to miniaturize its cross section. At that buckling of the leg rectilinear form is possible under dead weight. To keep the rectilinear form it is proposed to place a vibroexciter for vertical oscillations in the bottom of the leg. It results in parametrical oscillations which make onset for effect of vibrational stabilization of the rectilinear form. This effect can be treated as an increase of flexural stiffness of the flexible rod. Scheme of the leg's model in the form of flexible rod with distributed mass and concentrated mass at its free end is developed. Taking into account finite rotations of its sections we derive the equation of oscillations for the rod. It is shown that the effect of rectilinear form stabilization occurs under certain magnitudes of vibration frequency and amplitude. Stability conditions for obtained solutions are analyzed. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1007/978-3-642-10817-4_71 | ICIRA |
Keywords | Field | DocType |
account finite rotation,flexible rod,certain magnitude,rectilinear form stabilization,stable position,rectilinear form,concentrated mass,leg rectilinear form,cross section,vibrational stabilization,dead weight,oscillations,mathematical modeling | Oscillation,Control theory,Stability conditions,Control engineering,Vibration,Lightness,Engineering,Robot,Amplitude,Buckling,Flexural rigidity,Structural engineering | Conference |
Volume | ISSN | Citations |
5928 | 0302-9743 | 0 |
PageRank | References | Authors |
0.34 | 3 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Grigory Panovko | 1 | 0 | 0.68 |
| Evgeniya Myalo | 2 | 0 | 0.68 |
| Teodor Akinfiev | 3 | 19 | 5.25 |