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Dynamics and Optimization of Multibody Systems in the Presence of Dry Friction

In: Constructive Nonsmooth Analysis and Related Topics

Author

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  • F. L. Chernousko

    (Institute for Problems in Mechanics, Russian Academy of Sciences, Moscow Institute of Physics and Technology)

Abstract

Motions of multibody mechanical systems over a horizontal plane in the presence of dry friction forces are considered. Since the dry friction force is defined by Coulomb’s law as a nonsmooth function of the velocity of the moving body, the dynamics of systems under consideration is described by differential equations with nonsmooth right-hand sides. Two kinds of multibody systems are analyzed: snakelike multilink systems with actuators placed at the joints and vibro-robots containing movable internal masses controlled by actuators. It is shown that both types of systems can perform progressive locomotion caused by periodic relative motions of the bodies. The average speed of the systems is evaluated. Optimal values of the system parameters and optimal controls are found that correspond to the maximum locomotion speed. Experimental data confirm the obtained theoretical results. Principles of motions considered are of interest for biomechanics and robotics, especially, for mobile robots moving in various environments and inside tubes.

Suggested Citation

  • F. L. Chernousko, 2014. "Dynamics and Optimization of Multibody Systems in the Presence of Dry Friction," Springer Optimization and Its Applications, in: Vladimir F. Demyanov & Panos M. Pardalos & Mikhail Batsyn (ed.), Constructive Nonsmooth Analysis and Related Topics, edition 127, pages 71-100, Springer.
    • Handle: RePEc:spr:spochp:978-1-4614-8615-2_6
    DOI: 10.1007/978-1-4614-8615-2_6
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