Vibration-driven capsubot with a opposing spring: An experimental study

Авторы: Nunuparov A., Becker F., Bolotnik N., Zeidis I., Zimmermann K.
Сборник: ROMANSY 22 – Robot Design, Dynamics and Control. Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France
Серия: CISM International Centre for Mechanical Sciences (Courses and Lectures)
Том: 584
Год издания: 2019
Место издания: Springer Cham
Первая страница: 126
Последняя страница: 133
DOI: 10.1007/978-3-319-78963-7_17
Аннотация: A vibration-driven locomotor (capsubot) consisting of a rigid housing and an internal body connected to the housing by a spring is considered. The system is driven and controlled by an electromagnetic actuator that provides a force interaction between the housing and the internal body. The housing moves along a line on a horizontal plane with dry friction. The control voltage is applied to the robot in a periodic pulse-width mode, the voltage polarity remaining unchanged. Theoretical analysis predicts that the speed and direction of motion of the robot can be controlled by varying the period or/and the duty cycle of the control signal. An experimental prototype of the robot is built and the experiments are performed. The experiments confirm the theoretical prediction.
Добавил в систему: Болотник Николай Николаевич

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