Studencheskaya st. 42, Izhevsk, 426069, Russia
M.T. Kalashnikov Izhevsk State Technical University
Klekovkin A. V., Karavaev Y. L., Mamaev I. S.
The Control of an Aquatic Robot by a Periodic Rotation of the Internal Flywheel
2023, Vol. 19, no. 2, pp. 265-279
This paper presents the design of an aquatic robot actuated by one internal rotor. The robot body has a cylindrical form with a base in the form of a symmetric airfoil with a sharp edge. For this object, equations of motion are presented in the form of Kirchhoff equations for rigid body motion in an ideal fluid, which are supplemented with viscous resistance terms. A prototype of the aquatic robot with an internal rotor is developed. Using this prototype, experimental investigations of motion in a fluid are carried out.
Karavaev Y. L., Klekovkin A. V., Kilin A. A.
The dynamical model of the rolling friction of spherical bodies on a plane without slipping
2017, Vol. 13, No. 4, pp. 599–609
In this paper the model of rolling of spherical bodies on a plane without slipping is presented taking into account viscous rolling friction. Results of experiments aimed at investigating the influence of friction on the dynamics of rolling motion are presented. The proposed dynamical friction model for spherical bodies is verified and the limits of its applicability are estimated. A method for determining friction coefficients from experimental data is formulated.
Kilin A. A., Karavaev Y. L., Klekovkin A. V.
Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform
2014, Vol. 10, No. 1, pp. 113-126
In this article a kinematic model of the spherical robot is considered, which is set in motion by the internal platform with omni-wheels. It has been introduced a description of construction, algorithm of trajectory planning according to developed kinematic model, it has been realized experimental research for typical trajectories: moving along a straight line and moving along a circle.