Propulsive Motion of Cylindrical Vibration-Driven Robot in a Viscous Fluid
https://doi.org/10.26907/2541-7746.2024.3.277-296
Abstract
The propulsive motion of a multimass system, vibration-driven robot (VR), in a viscous incompressible fluid was studied. The VR consisted of a round cylindrical body submerged in the fluid and an internal mass (IM) performing small-amplitude pendulum-like oscillations inside the body. Using the method of asymptotic expansions, the combined mechanical and hydrodynamic problems that describe the self-propulsion of the system in the fluid were solved. The hydrodynamic problem was formulated on the basis of the complete non-stationary Navier–Stokes equation. An analytical solution was derived to describe the cruising regime of the VR motion in the fluid. The non-stationary hydrodynamic influence on the VR was determined. The efficiency of the propulsive system’s motion was assessed.
Supporting agencies: This study was supported by the Kazan Federal University Strategic Academic Leadership Program (PRIORITY-2030)
About the Authors
V. D. Anisimov
Kazan Federal University
Russian Federation
Russian Federation
Kazan, 420008
A. G. Egorov
Kazan Federal University
Russian Federation
Russian Federation
Kazan, 420008
A. N. Nuriev
Kazan Federal University
Russian Federation
Russian Federation
Kazan, 420008
O. N. Zaitseva
Kazan Federal University
Russian Federation
Russian Federation
Kazan, 420008
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For citations:
Anisimov V.D., Egorov A.G., Nuriev A.N., Zaitseva O.N. Propulsive Motion of Cylindrical Vibration-Driven Robot in a Viscous Fluid. Uchenye Zapiski Kazanskogo Universiteta. Seriya Fiziko-Matematicheskie Nauki. 2024;166(3):277-296. (In Russ.) https://doi.org/10.26907/2541-7746.2024.3.277-296
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