An Approach to the Dynamics of Vibration-driven Robots with Bristles

被引：9
作者：
Becker, Felix [1 ]
机构：
[1] Tech Univ Ilmenau, Tech Mech Grp, PF 10 05 65, D-98693 Ilmenau, Germany
来源：
IFAC PAPERSONLINE | 2015年 / 48卷 / 01期
关键词：
Mobile robots; Vibration; Robot dynamics; Bristle; Anisotropic Coulomb friction;
D O I：
10.1016/j.ifacol.2015.05.120
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a rigid body model of vibration-driven robots with bristles is presented and studied numerically. Bristles provide asymmetric friction properties to transform the vibrations of internal masses to a directed locomotion. The aim of this study is to investigate the motion principle of robots with bristles based on mechanical models and to find the influence of system parameters to the locomotion velocity. (C) 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
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收藏
页码：842 / +
页数：2
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