Section
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Mechanics
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Title
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Simulation of the motion of a propellerless mobile robot controlled by rotation of the internal rotor
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Author(-s)
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Klekovkin A.V.ab
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Affiliations
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Innopolis Universitya,
Izhevsk State Technical Universityb
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Abstract
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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.
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Keywords
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mobile robot, propellerless robot, aquatic robot, motion simulation, Kirchhoff equations
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UDC
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531.31, 517.912
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MSC
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70E15, 37J60, 76Dxx
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DOI
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10.35634/vm200408
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Received
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27 September 2020
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Language
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Russian
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Citation
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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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