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