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IssuesArchive of Issues2014-2pp.149-155

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V.G. Chashchukhin, "Study of the Anisotropy of Sliding Stops of Mobile Robots," Mech. Solids. 49 (2), 149-155 (2014)
Year 2014 Volume 49 Number 2 Pages 149-155
DOI 10.3103/S0025654414020046
Title Study of the Anisotropy of Sliding Stops of Mobile Robots
Author(s) V.G. Chashchukhin (Ishlinsky Institute for Problems in Mechanics, Russian Academy of Sciences, pr-t Vernadskogo 101, str.1, Moscow, 119526 Russia, ketlk@pisem.net)
Abstract The interaction of mini-robot contact elements with the surface is studied. The values of basic parameters necessary for successful operation of such elements are estimated. A procedure for calculating the value of anisotropic friction typical to adhesive material with haired structure is proposed. The results of this paper can be used to design robots intended for motion in bounded spaces, in particular, in narrow tubes.
Keywords anisotropic friction, adhesion, sliding stops of robots
References
1.  V. Gradetsky, V. Solovtsov, M. Kniazkov, et al., "Modular Design of Electromagnetic Mechatronic Microrobots," in Proc. 6th Int. Conf. CLAWAR 2003 Catania, Italy (2003), pp. 651-658.
2.  L. Sun, P. Sun, and X. Qin, "Study on Micro-Robot in Small Pipe," in UKACC Int. Conf. CONTROL. 1998, Conf. Publ. No. 455, pp. 1212-1217.
3.  V. G. Chashchukhin, "Simulation of Dynamics and Determination of Control Parameters of Inpipe Minirobot," of the Intratubal Minirobot," Izv. Ross. Akad. Nauk. Teor. Sist. Upr., No. 5, 142-147 (2008) [J. Comp. Syst. Sci. Int. (Engl. Transl.) 47 (5), 806-811 (2008)].
4.  V. G. Chashchukhin, "Dry Adhesive Material for Mechanical Grippers in Robotics," Nano- i Microsist. Tekhn., No. 2, 13-18 (2009).
5.  V. G. Gradetsky, M. M. Kniazkov, and L. N. Kravchuk, "Microprocessor Control of Mini-Robot Motion inside Tubes of Small Diameter," Microsist. Tekhn., No. 8, 11-19 (2002).
6.  V. V. Zozulya, A. V. Matynenko, and A. N. Lukin, Mechanics of Materials (Izd-vo Nats. Univ. Vnutr. Del, Kharkov, 2001) [in Russian].
Received 11 May 2011
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