Professional Documents
Culture Documents
Nikolai N. Bolotnik
Sergey F. Jatsun
Andrey S. Jatsun
Andrey A. Cherepanov
jatsun@kursknet.ru
andj@inbox.ru
Hopping motion of the vibration-driven robot. 1-robot, 2-environment, 3supporting surface, 4-traj ectory.
tV
EXCITER
Figure 2.
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INTRODUCTION
/___
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438
v,
;,
7~715
F1
b)
Figure 4. Pipeline-cleaner mnini-robot with an electromagnetic actuator
virai-dpipenwnithiaceanse
2-e
parameters
we
FirThe dynamic
of the
robot with
an
electromagnetic
Din
cm c3
m2 T2 =P2 -R2 + F
+ MI=U(t).
i-ob-t
Where:
Wher are &-manglesonlnto
of the frictionnetsX
,X-eerliemen
friction;
A
coefficient
of
-fditace
surface
fatan, lC fc. ~~~~~~(Xi
-X2 apn
C2AX,
2AX) if A<AVbeertweenb
is
is
mgetici;P flux;e of ls thcurreent, Wthreo
th ecthoageti
mdelthatdesribs th
deveope-- a mtheatial
- -interctionof th end-ffectr wit theechnoomasses;a
actspivegeectrmaioeisacno.h
ise thprisoterfrne
~ mgnti energy,o R-uaor There
electromagnetic ~ ~ ~ ~~ ~ ~
is also
4- R
and RI ofcoVc
p2 -PI
if electromagnetic
solenod
the arogapwinsid
Sdsquare
=
a)
439
to
1,2
~~~p2Q2
arne
P(Cd t+Q9
Force of friction
40
(Cd
35
30
151
t_ 0 E) E
10lTW
i...
coordinate),
20
0 tW 40 U
T il I i *1 h 1t1 1
0l 1001 1
T t 4 T 4 E T tt T 4 l
E T
0~~~~~~~~~~~~~~~~~~1
05,,,,,,,,,, 10
E 4
environment.
4
22
10
2 68
14
-18
-14t
2,50E-01 l
zo)
|1,00E-01
j---__
--
---__
l__
500E-02u-
il
Figure 6. The average velocity of the robot as a function of the relative o te v ra on exci.er .or d
lect
l feedn . . . . . .
.requency
......
......
l
Figure 9. The average velocity of the robot as a function of the phase
difference and the coefficient of friction.
440
Figure 11. Time history of the displacement of the robot equipped with
the platform.
this drawback, we propose to equip the robot with an
additional platform isolated from the robot body by a
displacement of the platform, 2 displacement of the robot body.
spritiong-anddaspot
vibration absomtherobobdyber.yMlat1
absorber. Manipulators,
spring-and-dashpot vibration
video cameras, and other devices should be installed on the
IV CONCLUSIONS
platform. The modified schematic of the robot is shown in
Fig. 10.
Vibration-driven robots with a one-coordinate vibration
exciter can move along a rough surface only if the friction
between the robot body and the supporting surface or/and
m2
Athe exciter vibrations have asymmetric characteristics.
Fy
xl
ml
mx2
zI
\
x2
Robots equipped with a one-coordinate exciter can be
M /
\
M FX
utilized for cleaning pipelines from solid deposits.
Robots equipped with two-coordinate vibration exciters
FTp2 FTP 1
can move even in the absence of an asymmetry in the
friction or vibration characteristics. The reverse in the
-
platform.
m2 is the mass of the robot, x1 is the absolute displacement
of the platform, x2 is the absolute displacement of the robot
body, Fx and Fy are the forces generated by the vibration
exciters, c and , are the stiffness and damping
coefficients of the platform suspension.
X1i*
. X1-c (X1-X2)-C
(X1 -X2)-(mlg)
04002, N205-08-33382.
sign(X,)
ml
*f. sign(X2)
sin(.-t) - CP X2- P (X2- Xl) - C (X2 - Xl) - (m2g - Fy sin(w. t + ())
m2
Fx
,\V\
Jiaotong University
Vol. 33 No.
7, 1999
[5]
1.1
0.1
REFERENCES
[1] Aoshima, S.; Tsujimura, T.; Yabuta, T.: A miniature mobile robot
using piezo vibration for mobility in a thin tube. Journal of Dynamic
Systems, Measurement, and Control Vol. 115 (1993), pp. 270-278
[2] Yeh, R.; Hollar, S.; Pister, K.S.J.: Design of low-power silicon
articulated microrobots. Journal of Micromechatronics, Vol. 1,
Num. 3, 2001, pp. 191-203
[3] Gradetsky, V.G.; Knyazkov, M.M.; Kravchuk, L.N.; Solovtsov,
V.N.: Microsensor control of motion of compact robots inside tubes
2.
2
F.
11
P.
F.
11
P.