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An Approach to the Dynamics of a Vibration-Driven Robot

  • Felix Becker
  • Victor Lysenko
  • Vladimir Minchenya
  • Igor Zeidis
  • Klaus Zimmermann
Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)

Abstract

Some aspects of the motion dynamics of a body with moveable internal masses in a resisting medium have been studied. The system consists of a body with two internal masses, that can move relative to the body. One of the internal masses vibrates in the horizontal direction and the other in the vertical direction. To provide the asymmetry of the friction force, necessary for the progressive motion in a given direction, it suffices to apply bristles to the contact surfaces. The bristles are attached to the body by means of spiral springs. The equations of motion are given and solved numerically. A prototype applying these principles has been constructed and proved positive.

Keywords

Friction Force Shape Memory Alloy Base Body Internal Mass Torsion Spring 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Felix Becker
    • 1
  • Victor Lysenko
    • 2
  • Vladimir Minchenya
    • 2
  • Igor Zeidis
    • 1
  • Klaus Zimmermann
    • 1
  1. 1.Faculty of Mechanical EngineeringIlmenau University of TechnologyIlmenauGermany
  2. 2.Instrumentation Engineering FacultyBelarusian National Technical UniversityMinskBelize

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