Investigation of dynamics of a pipe robot with vibrational drive and unsymmetric with respect to the direction of velocity of motion dissipative forces

摘要

In all fields of human activities intensification of use of robots and their systems takes place. In agriculture this process takes place too slowly if compared with some domains of machine building industry. Here the problem of creation of robots of various structures and for performance of different tasks is solved by using one coordinate mechanical blocks with vibrational mechanical drives used for this purpose. This block in a separate case is a robot moving in a pipe. Dynamics of such a block is represented as a nonlinear system and because of the nonlinearity of a block it is possible to obtain different laws of motions and their parameters. The investigation is performed by analyticalgraphical method. This enables to choose most suitable parameters of the investigated system.