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A robot inspired by a non‐smooth point mass model of a worm
Author(s) -
Winandy Tom,
Eugster Simon R.,
Bergold Markus
Publication year - 2017
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201710058
Subject(s) - planar , point (geometry) , motion (physics) , point particle , coulomb , chain (unit) , equations of motion , classical mechanics , center of mass (relativistic) , anisotropy , physics , mechanics , mathematics , mathematical analysis , computer science , geometry , computer graphics (images) , quantum mechanics , astronomy , energy–momentum relation , electron
A non‐smooth point mass model which mimics the locomotion of an earthworm is presented. The planar model consists of a chain with five elements on a rough ground. The distance between each pair of neighbouring elements is restricted by unilateral constraints. The contacts between the elements and the ground are subjected to anisotropic Coulomb friction. First, the equations of motion governing the impact‐free motion are derived. Then, the impact equations are formulated which, together with the generalized Newton's impact law, describe the dynamics at instantaneous impacts. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)