Reorientation of a rigid body by means of internal masses
- PDF / 303,951 Bytes
- 6 Pages / 547.087 x 737.008 pts Page_size
- 51 Downloads / 168 Views
ORIGINAL PAPER
Reorientation of a rigid body by means of internal masses F. L. Chernousko
Received: 23 June 2020 / Accepted: 8 October 2020 © Springer Nature B.V. 2020
Abstract Three-dimensional reorientation of a rigid body by means of several auxiliary masses moving relative to the body is considered. The algorithm presented is based on simple circular motions of the internal point masses. It is shown that the case of several masses, especially if their number exceeds three, has certain advantages compared to the case of one moving mass. The location of domains where these masses move as well as the size of these domains can be chosen according to the design requirements. The results obtained can be of interest for the control of mobile robots and other moving objects including spacecraft. Keywords Multibody system · Mobile robot · Orientation · Control 1 Introduction Internal moving masses contained inside a body can be used to create and support movements of the body in different media. In robotics, such mobile systems carrying auxiliary moving masses are called capsule robots. They have no external moving elements, may be hermetic and can perform operations of inspection, monitoring, and delivery in different environments, including hazardous, irregular, and vulnerable ones. F. L. Chernousko (B) Institute for Problems in Mechanics of Russian Academy of Sciences, pr. Vernadskogo 101-1, Moscow, Russia 119526 e-mail: [email protected]
Papers devoted to the dynamics and control of capsule robots and similar systems deal mostly with onedimensional translational locomotion of these systems [1–4]. Optimal one-dimensional motions of systems carrying internal masses were considered, and motions corresponding to the maximum average locomotion speed were found for media with different resistance forces [5,6]. Two-dimensional motions along a horizontal plane of bodies controlled by auxiliary internal masses were considered in papers [7–10]. The review of research fulfilled in this field was given in [10]. If a mobile robot with an internal mass performs a fast turn, then, under certain conditions, the external forces can be negligible compared to the internal ones due to the interaction of the robot with internal masses. Thus, the dynamics of two- and threedimensional motions of a body carrying internal moving masses in the absence of external forces can be of interest. Time-optimal and suboptimal motions of a rigid body with a moving point mass in the absence of external forces were first considered in [11]. It was shown that if the internal mass is small compared to the mass of the body, then the time-optimal trajectories of the internal mass relative to the body are circular arcs [11–13]. In the general case, more complicated optimal controls for two-dimensional [14] and threedimensional [15] motions of a body carrying a moving point mass were found in the absence of external forces.
123
F. L. Chernousko
Problems of control by means of internal moving masses can be of interest not only for robotic systems. The sa
Data Loading...
