Simulation of the motion of a propellerless mobile robot controlled by rotation of the internal rotor

Author:

Klekovkin A.V.1

Affiliation:

1. Kalashikov Izhevsk Technical State University; Innopolis University

Abstract

We consider a propellerless robot that moves on the surface of a fluid by rotating of the internal rotor. The robot shell has a symmetric shape of NACA 0040 airfoil. The equations of motion are written in the form of classical Kirchhoff equations with terms describing the viscous friction. The control action based on the derived model is proposed. The influences of various model parameters on the robot's trajectory have been studied.

Funder

Russian Foundation for Basic Research

Publisher

Udmurt State University

Subject

Fluid Flow and Transfer Processes,General Mathematics,General Computer Science

Cited by 4 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Rectilinear Periodic Motions of Systems with Internal Bodies;Dynamics of Mobile Systems with Controlled Configuration;2024

2. Plane-parallel motion of a trimaran capsubot controlled with an internal flywheel;International Journal of Non-Linear Mechanics;2023-04

3. Numerical analysis of the periodic controls of an aquatic robot;Vestnik Udmurtskogo Universiteta. Matematika. Mekhanika. Komp'yuternye Nauki;2022-12

4. Design and control for the underwater robot with internal rotor;2021 International Conference "Nonlinearity, Information and Robotics" (NIR);2021-08-26

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