Controllable motions of a two-link mechanism along a horizontal plane

✍ Scribed by F.L. Chernous'ko

• Publisher: Elsevier Science
• Year: 2001
• Tongue: English
• Weight: 748 KB
• Volume: 65
• Category: Article
• ISSN: 0021-8928
• DOI: 10.1016/s0021-8928(01)00062-4

✦ Synopsis

Controllable two-dimensional motions of a two-link mechanism along a horizontal plane are considered. Forces of dry friction act between the mechanism and the plane. The control is accomplished through a controlling torque, developed by a motor whose axis coincides with the axis of the hinge in the mechanism. Periodic control laws are constructed which guarantee longitudinal displacement of the two-link mechanism as a whole. The velocity of these motions is estimated. It is shown that any prescribed displacement of the mechanism in the plane may be achieved, and the corresponding motion is demonstrated. The motions constructed may serve as a simplified model for the motion of snakes and other animals with no extremities. The proposed mode of displacement may be used in the design of mobile robots, in particular, for robots of small dimensions.