Studencheskaya st. 7, Izhevsk, 426069, Russia
M.T. Kalashnikov Izhevsk State Technical University
Karavaev Y. L., Kilin A. A., Klekovkin A. V.
Experimental Investigations of the Controlled Motion of a Screwless Underwater Robot
2016, vol. 21, no. 7-8, pp. 918-926
In this paper we describe the results of experimental investigations of the motion of a screwless underwater robot controlled by rotating internal rotors. We present the results of comparison of the trajectories obtained with the results of numerical simulation using the model of an ideal fluid.
Borisov A. V., Karavaev Y. L., Mamaev I. S., Erdakova N. N., Ivanova T. B., Tarasov V. V.
Experimental Investigation of the Motion of a Body with an Axisymmetric Base Sliding on a Rough Plane
2015, vol. 20, no. 5, pp. 518-541
In this paper we investigate the dynamics of a body with a flat base (cylinder) sliding on a horizontal rough plane. For analysis we use two approaches. In one of the approaches using a friction machine we determine the dependence of friction force on the velocity of motion of cylinders. In the other approach using a high-speed camera for video filming and the method of presentation of trajectories on a phase plane for analysis of results, we investigate the qualitative and quantitative behavior of the motion of cylinders on a horizontal plane. We compare the results obtained with theoretical and experimental results found earlier. In addition, we give a systematic review of the well-known experimental and theoretical results in this area.
Karavaev Y. L., Kilin A. A.
The Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform
2015, vol. 20, no. 2, pp. 134-152
This paper deals with the problem of a spherical robot propelled by an internal omniwheel platform and rolling without slipping on a plane. The problem of control of spherical robot motion along an arbitrary trajectory is solved within the framework of a kinematic model and a dynamic model. A number of particular cases of motion are identified, and their stability is investigated. An algorithm for constructing elementary maneuvers (gaits) providing the transition from one steady-state motion to another is presented for the dynamic model. A number of experiments have been carried out confirming the adequacy of the proposed kinematic model.