Vibroimpact Mobile Robot

A simple model of a capsule robot is studied. The device moves upon a rough horizontal plane and consists of a capsule with an embedded motor and an internal moving mass. The motor generates a harmonic force acting on the bodies. Capsule propulsion is achieved by collisions of the inner body with the right wall of the shell. There is Coulomb friction between the capsule and the support, it prevents a possibility of reversal motion. A periodic motion is constructed such that the robot gains the maximal average velocity.