The study of the wedge-shaped vibration-driven robot motion in a viscous fluid forced by different oscillation laws of the internal mass

Abstract

A rectilinear motion of a two-mass system in a viscous incompressible fluid is considered. The system consists of a shell having the form of an equilateral triangular cylinder and a movable internal mass. The motion of the system as a whole is forced by longitudinal oscillations of the internal mass relative to the shell. This mechanical system simulates a vibration-driven robot, i.e. a mobile device capable to move in a resistive medium without external moving parts. Investigation of the system is carried out by a direct numerical simulation. A comparative analysis of the characteristics of the motion and flow regimes around the vibration-driven robot is carried out for different internal mass oscillation laws.