Dynamics of a two-module vibration-driven system moving along a rough horizontal plane (Q1035443)

The authors study a rectilinear motion of two bodies connected by a spring on a rough horizontal plane. The motion is excited by two identical unbalanced rotors based on these bodies. The axes of rotation of the rotors are vertical. For small coefficient of friction, the authors obtain an approximate mean steady-state velocity of the system. It is shown that this velocity can be controlled by the change of phase shift between the rotations of the rotors. Also the direction of motion can be changed by changing the sign of the difference between the natural frequencies of the rotors and angular velocity. The model was confirmed experimentally. P.S. The first sentence in the second paragraph after equation (28) should read as follows: The difference between the solution of the averaged equation (26) and the solution of (25) has an order of magnitude of \(\varepsilon\) on the time interval of order of \(1/ \varepsilon\), provided that both sets of equations are subjected to the same initial conditions.