Motion Control of The Mobile Robot with Propellers which Working on the Periodic Jamming Effect

Abstract

We consider a robot moving along a horizontally located rod. The de-sign includes two bushings, one of which, due to frictional forces as a result of jamming, wraps around the rod and is held on it, while the other one moves freely. The principle of operation of the propeller is based on the effect of periodic jamming. The movement of the mobile robot can be seen in the video on the link: https://drive.google.com/file/d/1QD5V7YwKOKPHlcZa2MQDy_Q4YiMs6KKv/view?usp=drive_link.