Vibration-Driven Capsubot with an Opposing Spring: An Experimental Study
Vibration-Driven Capsubot with an Opposing Spring: An Experimental Study
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DOI：
10.1007/978-3-319-78963-7_17
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
A. Nunuparov;F. Becker;N. Bolotnik;I. Zeidis;K. Zimmermann
中科院分区：
文献类型：
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作者：
A. Nunuparov;F. Becker;N. Bolotnik;I. Zeidis;K. Zimmermann
振动驱动的运动（capsubot）被认为是由一个刚性的外壳和一个内部机构连接到外壳的弹簧。该系统由电磁致动器驱动和控制，该电磁致动器在壳体和内部主体之间提供力的相互作用。壳体通过干摩擦在水平面上沿沿着移动。控制电压以周期性脉宽模式施加到机器人，电压极性保持不变。理论分析预测，机器人的运动速度和方向可以通过改变控制信号的周期或/和占空比来控制。建立了机器人的实验样机，并进行了实验。实验证实了理论预测。
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.