Abstract
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.
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Acknowledgements
This study was partly supported by the Deutsche Forschungsgemeinschaft (Grant ZIM 540 / 19-2) and the Russian Foundation for Basic Research (Grant 17-51-12025).
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© 2019 CISM International Centre for Mechanical Sciences
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Nunuparov, A., Becker, F., Bolotnik, N., Zeidis, I., Zimmermann, K. (2019). Vibration-Driven Capsubot with an Opposing Spring: An Experimental Study. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_17
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DOI: https://doi.org/10.1007/978-3-319-78963-7_17
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Online ISBN: 978-3-319-78963-7
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