Optimal Motions of Bodies Controlled by Internal Moving Masses

Abstract

Locomotion of robots in a resistive medium can be based on special motions of auxiliary internal masses inside the main body of the robot. This locomotion principle is used in micro-robots and vibro-robots moving in tubes. In the paper, optimal motions of systems controlled by internal moving masses are considered. One-dimensional optimal motions are examined for systems moving in the presence of dry friction forces. Two-dimensional motions are considered for bodies subject to dry friction and containing internal moving masses. Optimal motions of a two-body system are obtained for the case where external forces are negligible. This situation is a model for the re-orientation of a spacecraft containing a moving internal mass.