Coupled dynamics of solid system with slider-crank mechanisms as internal movers on rough surface with friction

Equations of coupled dynamics of the solid system with slider-crank mechanisms as internal movers are obtained on rough surface with friction for cases of translational and rotational movement by the methods of mathematical modeling. Such class mechanism driven by inner movements of masses being isolated from surrounding space in shell can be used in conditions where traditional movers (wheels, tracks, legs) for some reasons are not applicable