Survey of methods of research of systems of ecological monitoring on the basis of mobile robots
In the given paragraph survey of the works devoted to methods of research and mathematical modelling of systems of ecological monitoring on the basis of mobile mechanical iterative systems is resulted,
Various robots simulating traffic.
The revealed optimum periodic motions of system answering by the greatest average during speed of moving of system as whole, serve as an outstanding point by search of analogous regimes in trehzvennoj to system. The researches of agency of periodic motions of internal weight presented to [77] results with kusochno-constant speed concerning a body on character of traffic last allow to define conditions at which the system moves is forward.
Feature of mobile systems is that robot links constantly are in contact to a circumambient, and forces of resistance originating thus, provide installation traffic, therefore in many works agency of resistance of medium on character of traffic of the device [54] is investigated. For example, in [16] different laws of resistance of medium are observed: linear and quadric resistance, isotropic and anisotropic, resistance in the form of forces of the dry friction, an obeying the law Pendant. Three types of laws of a tractive resictance of the case of the robot in medium: the kusochno-linear friction, a quadric friction and dry kulonovo a friction are presented in [21]. In [17] features of management by rectilinear motion of mobile vibrating system for the account are observed
Optimum periodic movings of weights at which average speed of the case of the robot concerning medium is maximum.
Dynamics of the robot moving on a horizontal plane at the expense of harmonic motions of weights in horizontal and vertical planes with equal frequency and with phase shift, is investigated in [15]. Management of average speed of the case of system in a direction and magnitude is In-process installed, that, it is possible to carry out by management of phase shift and an oscilation frequency of internal weights.
Questions of modelling of a curvilinear motion of mobile vibrating robots on a horizontal surface are studied in works [29,32,34]. In [77] the mathematical model of traffic of the vibrating robot on a rough horizontal surface is offered, the basic regularity of traffic is gained. In [39,40,61,64-65] ways of management by a traffic route of the vibrating robot with three twirled weights are shown.
In [64] the mathematical model of the robot set in motion by means of periodic moving of internal weight and asymmetrical force of a viscous friction, created thanking the special form of the case is resulted.
The design procedure of factors of viscous resistance at traffic of such robot is offered in [64]. In [39,74,64] the design and a principle of traffic of the three-mass vibrating robot moving on a surface of a body of the person on which the medicinal substance which is carrying out function of greasing moves are presented. The mathematical model and results of modelling of rectilinear and curvilinear movements such vibrorobota are resulted in [73]. From the analysis of the resulted works follows, that methods of theoretical mechanics are widely applied to construction of mathematical models of iterative robots in the form of the general theorems of dynamics, equations Lagranzha of II sort. Gained
The differential equations of traffic are nonlinear, therefore for modelling of various regimes of traffic of mechanical systems in the core numerical methods are used.
1.5
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