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research-article

LOCOMOTION OF A MINI BRISTLE ROBOT WITH INERTIAL EXCITATION

[+] Author and Article Information
Tadeusz Majewski

Department of Industrial&Mechanical Engineering, Universidad de las Américas-Puebla, Ex. Hacienda Sta. Catarina Martir, Cholula, 72810 Puebla, México
tadeusz.majewski@udlap.mx

Dariusz Szwedowicz

Centro Nacional de Investigacion y Desarrollo Tecnologico, Cuernavaca, Morelos, México
d.sz@cenidet.edu.mx

Maciej Majewski

Power Alstom, Poland
maciej.majewski@power.alstom.com

1Corresponding author.

ASME doi:10.1115/1.4037892 History: Received November 02, 2016; Revised August 08, 2017

Abstract

The paper presents a theory of vibratory locomotion, a prototype, and the results of experiments on mini robot which moves as a result of inertial excitation provided by two electric motors. The robot is equipped with elastic bristles which are in contact with the supporting surface. Vibration of the robot generates the friction force which can push the robot forward or backward. The paper presents a novel model of interaction between the bristles and the supporting surface. The friction force (its magnitude and sense) is defined as a function of the robot velocity and the robot´s vibrations. The analysis is done for a constant coefficient of friction and a smooth surface. Depending on the motors' speed, one may obtain a rectilinear or a curvilinear motion, without jumping or losing contact with the substrate. The results of the simulation show which way the robot moves, its mean velocity of locomotion, change of the slipping velocity of the bristles and its influence on the normal and the friction force. A prototype was built and experiments were performed with it.

Copyright (c) 2017 by ASME
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