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IssuesArchive of Issues2003-1pp.24-32

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T. Yu. Figurina, "Quasi-static motions of a two-member linkage along a horizontal plane," Mech. Solids. 38 (1), 24-32 (2003)
Year 2003 Volume 38 Number 1 Pages 24-32
Title Quasi-static motions of a two-member linkage along a horizontal plane
Author(s) T. Yu. Figurina (Moscow)
Abstract Quasi-static motions of a two-member linkage are considered. The links of the system have different lengths and are connected by a joint. The mass of the linkage is concentrated in the particles located at the free ends and at the joint, all particles having the same mass. The linkage lies on a rough horizontal plane and is controlled by the torque applied at the joint. In any state of the linkage, the torque is chosen so as to satisfy equilibrium equations for each of the links.

The slow motion of the linkage corresponding to such a control is described. It is shown that if the length of the longer link is less than two times the length of the shorter link, then the quasi-static motion of the system from the unfolded configuration to the folded one involves three phases, with one, two, and three vertices (particles) moving. If the ratio of lengths of these links exceeds two, the phase with three moving links does not occur.
References
1.  S. Hirose, Biologically Inspired Robots: Snake-like Locomotors and Manipulators, Univ. Press, Oxford, 1993.
2.  F. L. Chernousko, "The motion of a multi-member linkage along a horizontal plane," PMM [Applied Mathematics and Mechanics], Vol. 64, No. 1, pp. 8-18, 2000.
3.  F. L. Chernousko, "Controlled motions of a two-member linkage along a horizontal plane," PMM [Applied Mathematics and Mechanics], Vol. 65, No. 4, pp. 578-591, 2001.
4.  F. L. Chernousko, "Wave-like motions of a multi-member linkage along a horizontal plane," PMM [Applied Mathematics and Mechanics], Vol. 64, No. 4, pp. 518-531, 2000.
Received 30 November 2000
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