Abstract
AbstractThis paper describes non‐classical locomotion based on the variation of the contact force. The motion of a locomotion system on an inclined plane is considered. The contact force between the locomotion system and the inclined plane can be influenced by the motion of internal masses. Therefore a mechanical model with two internal masses is introduced. The friction between the locomotion system and the environment is described by COULOMB's law. The motion of this locomotion system is investigated and analyzed by using the averaging method of BOGOLJUBOV and MITROPOLSKI. Furthermore the influence of different parameters on the locomotion characteristics like the direction of movement, the stationary velocity and the maximum inclination angle is shown. A prototype based on this locomotion principle is built up for experimental investigations. Additionally, simulations are used to analyze the locomotion system. The experimental values are compared to the theoretically results and confirm the variation of the contact force as an option to enable a controlled locomotion. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
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