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This article is cited in 1 scientific paper (total in 1 paper)
Nonlinear engineering and robotics
The Control of an Aquatic Robot by a Periodic Rotation of the Internal Flywheel
A. V. Klekovkina, Yu. L. Karavaevb, I. S. Mamaevc a P. G. Demidov Yaroslavl State University,
ul. Sovetskaya 14, Yaroslavl, 150003 Russia
b Kalashnikov Izhevsk State Technical University,
ul. Studencheskaya 7, Izhevsk, 426069 Russia
c Institute of Mathematics and Mechanics of the Ural Branch of RAS,
ul. S. Kovalevskoi 16, Ekaterinburg, 620990 Russia
Abstract:
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.
Keywords:
mobile robot, aquatic robot, motion simulation.
Received: 16.01.2023 Accepted: 10.02.2023
Citation:
A. V. Klekovkin, Yu. L. Karavaev, I. S. Mamaev, “The Control of an Aquatic Robot by a Periodic Rotation of the Internal Flywheel”, Rus. J. Nonlin. Dyn., 19:2 (2023), 265–279
Linking options:
https://www.mathnet.ru/eng/nd852 https://www.mathnet.ru/eng/nd/v19/i2/p265
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