论文标题
惯性的三连锁体的有效滑动运动
Efficient sliding locomotion of three-link bodies with inertia
论文作者
论文摘要
以前关于滑动运动的许多研究都认为身体惯性可以忽略不计。在这里，我们优化了三连杆体的运动学，以进行有效的运动，并包括运动参数的运动时间，或者等效地是体内惯性。当横向滑动到体轴的摩擦系数很小时，最佳惯性是不可忽略的。在少数情况下，惯性也很重要，具有相对较大的横向滑动和向后滑动的摩擦系数，在这里，最佳运动对惯性参数的敏感性较小。随着使用的频率数量从1增加到四个，最佳动作似乎会收敛。对于某些具有显着惯性的最佳运动，当惯性参数降低到零时，我们发现效率的急剧降低。对于零惯性最佳的运动，当我们将惯性提高到中等和大值时，效率会逐渐降低。
Many previous studies of sliding locomotion have assumed that body inertia is negligible. Here we optimize the kinematics of a three-link body for efficient locomotion and include among the kinematic parameters the temporal period of locomotion, or equivalently, the body inertia. The optimal inertia is non-negligible when the coefficient of friction for sliding transverse to the body axis is small. Inertia is also significant in a few cases with relatively large coefficients of friction for transverse and backward sliding, and here the optimal motions are less sensitive to the inertia parameter. The optimal motions seem to converge as the number of frequencies used is increased from one to four. For some of the optimal motions with significant inertia we find dramatic reductions in efficiency when the inertia parameter is decreased to zero. For the motions that are optimal with zero inertia, the efficiency decreases more gradually when we raise the inertia to moderate and large values.
