A study of controllable motion of a mobile vibration system moving with breakaway from the surface

摘要

We consider a model of a two-mass mechanical system consisting of an external body (box) and an internal body (unbalance), which moves on a rough rigid surface with a breakaway from it. We derive differential equations describing the system motion in the phase of flight and determine the conditions of location on the reference surface. The control parameter is proposed to be the angular velocity of unbalance rotation. To find the dependence of hopping height and length on the control frequency of unbalance rotation, we analyze the equations. An algorithm of numerical integration of the system of differential equations of motion was developed. The numerical solution confirms the theoretical conclusions on the dependence of hopping height and length on rotation frequency. At the same time, the form of trajectory of body mass center was found to depend on the value of the control parameter. Also, we reveal the dependence of the direction of robot motion on hopping height and length, and unbalance (on the ratio of system mass).