Modeling the dynamics of a capsule-type locomotion system actuated by an imbalanced rotor under the action of dry anisotropic friction

Mobile robotic systems with vibratory drives are becoming increasingly popular in various fields of industry and medicine. This article is dedicated to the study of the dynamic behavior of a mobile capsule-type robot equipped with an imbalanced vibration exciter. The research methodology involves constructing a simplified dynamic diagram of the robot's mechanical system, using Lagrange's equations of the second kind to describe its motion, and solving the obtained system of differential equations using numerical methods integrated into the Wolfram Mathematica software. The simulation results are presented in the form of time dependences of the instantaneous displacement and velocity of the capsule under various operating conditions. The main scientific novelty of the work is that the mathematical models of capsule-type robots moving under the action of dry anisotropic friction of the first kind have been further improved, and new dependencies of the influence of friction coefficients on the average speed of the capsule have been constructed under other unchanged operating conditions. The obtained results can be used by developers and researchers of similar capsule-type robots with imbalanced vibration exciters, in particular for systems of monitoring and cleaning the internal surfaces of pipelines, as well as for robots intended to perform clinical diagnostics of vessels and intestines.