Tham khảo tài liệu 'intech-climbing and walking robots towards new applications part 16', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Worm-like Locomotion System WLLS - Theory Control and Prototypes 449 where a -2 d - dw 1 b 3 d - dw lĩ . For this assumption and for parameters as above the length of the segment is equal to ks 4 and the analytical estimation of the body velocity is V n mms-1. Body Form is a Broken Line Let us assume that the form of the body segment between two coils is a straight line. The equation of the central line of the segment is as follows yR d - dw XL . 35 In this case for parameters as above the length of the segment is ks 4 and the analytical estimation of the body velocity is V n mms-1. From Fig. 19 we can see that for n 100s-1 the theoretical result the body form is determined by the model of an elastic beam matches with the experimental data for the sample 1 for the first experiment. The maximal obtained body velocity is V cms-1 for n 100s-1. For n 950s-1 in the first experiment sample 1 does not move. From the second experiment it follows that the segment form of the capsule is a straight line. The length of the segment is determined by the formula ls L2 d - dc 2 ks 6 . 36 From 20 we find dependency of the velocity of the body on n V n mms-1. The theoretical dependency of the velocity of the body V on n and experimental data are shown in Fig. 20. CAPSULE 400 Fig. 20. Body velocity V V n a capsule with a magnetic fluid SCJU 6110 450 Climbing and Walking Robots Towards New Applications For the frequency n 505-1 the theoretical estimation of the velocity of the capsule matches with the experiments. In our experiment for n 700s 1 the capsule does not move. The maximal obtained capsule velocity is V cms-1 for n 50s-1. The body velocity de pends on the geometrical shape of the deformed body and that of the channel. Only if n is small enough the body inertia does not affect the body velocity and the formula 32 is valid. A simulation of the dynamic behavior of the elastic body was made by Finite-ElementMethod Fig. 21 . For n .
