Motion of mechanical systems on solid, resistive surfaces

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The aim of this continuative project is to develop understanding for moving mechanical systems in and on resistive media. The acquired knowledge should be used for model-based design of technical motion systems for selected scenarios. The scientific basis for the design of mobile systems include (1) basic mechanical research of the dynamic behavior and energetic characteristics of systems with changeable configuration and moving internal masses, (2) the investigation of its controllability and, finally, (3) the definition of optimal system parameters for specified moving algorithms.Using analytical methods, we will answer the question whether the motion of a mechanical system with known resistance laws is possible in principle, and if so, what control algorithms for a given configuration can realize this locomotion. The investigations begin always with yes or no statements concerning the locomotion. These statements are based on the investigation of specific, but always generalizable and transferable models in a defined resistive media. Thus, the model-based formulation of necessary and sufficient conditions for locomotion by using analytical methods always reflects concrete mechanical systems. They are inspired by biological models, whereby movement is understood in the meaning of locomotion in context of this application. The research project is methodologically focused on analytical methods because generalized statements in form of necessary and sufficient conditions for locomotion are to be formulated. Only after exhausting the possibilities in the area of analytical procedures largely, numerical simulation tools come into the application focus. Computer-aided methods and numerical dynamic simulations are primarily evaluation tools in combination with experiments in this project. Applications and further developments of prototypes are considered under two aspects: (1) additional constraints for the system (e.g. constant velocity and/or orientation of a selected body of the multibody system) and (2) the possible usage of smart materials.