DECOMPOSITION METHOD FOR ANALYSIS OF ROBOT VERTICAL VIBRATION MOVEMENT

The work is dedicated to flying or diving robot motion analysis in which the drive system is created without propellers - with fins or wings. The diving or flying robot's frame vertical slow movement is initiated by the vibrations of wings. Interaction with the fluid (air or water) is described as the elementary particle interaction forces proportional to the square of the speed of the contact surfaces. Additionally, the wing interaction forces are dependent on the speed direction to be followed by two different drag coefficients (move up or down). Motion analysis of the system is divided into two stages. In the first stage of decomposition wing rapid oscillatory motion is analyzed, assuming that the robot's body is motionless. One case, in which the transient motion of wings is given, is analyzed. In the second case the forces of rotation actuators are given. The region in which forces try to pick up the robot is fixed. In the second stage of decomposition using the obtained fluid reactions (fast moving) of the first stage slow upward movement is analyzed. In this stage hull interaction with the environment is also respected. At the end application of two rotation actuators is analyzed. The results of the proposed decomposition method can be used for flying and diving robot synthesis.