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

Dynamics of a two-module vibration-driven system moving along a rough horizontal plane,10.1007/s11044-009-9158-2,Multibody System Dynamics,K. Zimmerma

Dynamics of a two-module vibration-driven system moving along a rough horizontal plane   (Citations: 3)
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A rectilinear motion of a system of two bodies connected by a spring on a rough horizontal plane is studied. The motion of the system is excited by two identical unbalanced rotors based on the respective bodies. Major attention is given to the steady-state motion. A nearly-resonant excitation mode, when the angular velocities of the rotor are close to the natural frequency of the system, is considered. A set of algebraic equations for determining an approximate value of the average steady-state velocity of the entire system is obtained for the case of small friction. It is shown that control of the steady-state motion can be provided by changing the phase shift between the rotations of the rotors and the sign of the resonant detuning measured by the difference between the angular velocity of the rotors and the natural frequency of the system. By varying the phase shift one can control the magnitude of the average velocity, and varying the detuning enables one to change the direction of the motion.
Journal: Multibody System Dynamics - MULTIBODY SYST DYN , vol. 22, no. 2, pp. 199-219, 2009
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    • ...When the control force is applied to an internal mass, the reaction force is applied to the body and changes its velocity, which affects the resistance force exerted on the body by the environment [25]...
    • ...In context of vibration-driven locomotion systems, this effect is also described in [22], [25], and [26] with other actuating mechanisms, based on the vibration of rigid components of standard discrete systems...

    K. Zimmermannet al. Vibration-driven mobile robots based on magneto-sensitive elastomers

    • ...Work [19] devoted to a system composed of two identical modules connected by a linear spring...
    • ...As one can see in [19], a two-module vibration-driven system has some advantages over one-module system...
    • ...Consequently, being different with [19], the steady-state velocity will not change its direction if we change the sign of the off-resonance detuning σ...

    Hong-Bin Fanget al. Controlled motion of a two-module vibration-driven system induced by i...

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