Dynamics of a flat rigid body on a horizontal plane

Introduction. The study of the motion of a rigid body carrying moving masses greatly simplifies the design of capsule robots that can move inside aggressive environments and perform the required operations. The following cases have been studied quite well: movement during interaction of a solid body with a reference plane and in aggressive environments; vibratory displacement of bulk media and solids on a vibrating base; optimization of rigid body motion; variation of average speed and acceleration at different intervals of motion; dependence of average speed on task parameters; control of the motion speed of the internal mass for the fastest possible rotation of a rigid body. However, at present, insufficient attention has been paid in the literature to the problems of studying the motion of a heavy flat body along a horizontal plane under the action of a harmonic force directed at an angle to the horizon, specifically, in terms of taking into account all possible driving modes and their features. This does not allow determining the optimal parameters of the problem. Therefore, the objective of this research was to identify the features of all possible modes of motion of a heavy solid body along a horizontal plane under the action of a harmonic force directed at an angle to the horizon.