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A vibration-driven planar locomotion robot—Shell

Published online by Cambridge University Press:  13 June 2018

Xiong Zhan ,
Jian Xu Open the ORCID record for Jian Xu [Opens in a new window]  and
Hongbin Fang Open the ORCID record for Hongbin Fang [Opens in a new window]
Xiong Zhan
Affiliation:
School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, P. R. China. E-mails: [email protected], [email protected]
Jian Xu*
Affiliation:
School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, P. R. China. E-mails: [email protected], [email protected]
Hongbin Fang
Affiliation:
School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, P. R. China. E-mails: [email protected], [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper reports the design, analysis, and control of a miniature vibration-driven planar locomotion robot called Shell. A vibration-driven system is able to achieve locomotion based on internal oscillations and anisotropic friction forces. In this robot design, two parallel oscillators are employed to provide propelling forces, and a blade-like support is designed to generate anisotropic frictional contact with the ground. If the two parallel oscillators are of different frequencies and amplitudes, two-dimensional locomotion of the robot can be achieved. To predict the robot's planar locomotion, a dynamic model is developed. Controlling the robot's locomotion and especially, the locomotion modes can be achieved by adjusting the vibration frequencies of the two internal oscillators. Experimental results show that Shell can be controlled to move rectilinearly and along circles with certain curvatures. In addition, by combining these basic trajectories, Shell can move freely on a horizontal plane.

Keywords

Bioinspired robotMiniature robotRobot locomotionPlanar trajectoryElectromagnetic actuationAnisotropic friction
Type
Articles
Information
Robotica , Volume 36 , Issue 9 , September 2018 , pp. 1402 - 1420
Copyright
Copyright © Cambridge University Press 2018 

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