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Russia Innopolis; Izhevsk
Year
2020
Volume
30
Issue
4
Pages
645-656
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Section Mechanics
Title Simulation of the motion of a propellerless mobile robot controlled by rotation of the internal rotor
Author(-s) Klekovkin A.V.ab
Affiliations Innopolis Universitya, Izhevsk State Technical Universityb
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.
Keywords mobile robot, propellerless robot, aquatic robot, motion simulation, Kirchhoff equations
UDC 531.31, 517.912
MSC 70E15, 37J60, 76Dxx
DOI 10.35634/vm200408
Received 27 September 2020
Language Russian
Citation Klekovkin A.V. Simulation of the motion of a propellerless mobile robot controlled by rotation of the internal rotor, Vestnik Udmurtskogo Universiteta. Matematika. Mekhanika. Komp'yuternye Nauki, 2020, vol. 30, issue 4, pp. 645-656.
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