Descripción
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A walking robot is considered. For leg lightness, it is suggested in some cases to miniaturize its cross section. At that buckling of the leg rectilinear form is possible under dead weight. To keep the rectilinear form, it is proposed to place a vibroexciter for vertical oscillations in the bottom of the leg. It results in parametrical oscillations that make onset for the effect of vibrational stabilization of the rectilinear form. This effect can be treated as an increase of flexural stiffness of the flexible rod. Scheme of the leg?s model in the form of flexible rod with distributed mass and concentrated mass at its free end is developed. Taking into account the finite rotations of its sections, we derive the equation of oscillations for the rod. It is shown that the effect of rectilinear form stabilization occurs under certain magnitudes of vibration frequency and amplitude. Stability conditions for obtained solutions are analyzed. | |
Internacional
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No |
JCR del ISI
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No |
Título de la revista
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International Journal of Humanoid Robotics |
ISSN
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02198436 |
Factor de impacto JCR
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Información de impacto
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Volumen
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8 |
DOI
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10.1142/S0219843611002320 |
Número de revista
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1 |
Desde la página
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13 |
Hasta la página
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25 |
Mes
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SIN MES |
Ranking
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