Hostname: page-component-74656f9884-8r8nv Total loading time: 0 Render date: 2026-11-09T21:43:37.397Z Has data issue: false hasContentIssue false
  • English
  • Français

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: 90zhanxiong@tongji.edu.cn, fanghongbin@tongji.asia
Jian Xu*
Affiliation:
School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, P. R. China. E-mails: 90zhanxiong@tongji.edu.cn, fanghongbin@tongji.asia
Hongbin Fang
Affiliation:
School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, P. R. China. E-mails: 90zhanxiong@tongji.edu.cn, fanghongbin@tongji.asia
*
*Corresponding author. E-mail: xujian@tongji.edu.cn
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

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

Information

Type
Articles
Information
Robotica , Volume 36 , Issue 9 , September 2018 , pp. 1402 - 1420
Copyright
Copyright © Cambridge University Press 2018 

References

1. Karydis, K., Liu, Y., Poulakakis, I. and Tanner, H. G., “A template candidate for miniature legged robots in quasi-static motion,” Auton. Robot. 38 (2), 193–209 (2015).Google Scholar
2. Transeth, A. A., Pettersen, K. Y. and Liljebäck, P., “A survey on snake robot modeling and locomotion,” Robotica 27 (7), 999–1015 (2009).Google Scholar
3. Liljebäck, P., Pettersen, K. Y., Stavdahl, O. and Gravdahl, J. T., Snake Robots: Modelling, Mechatronics, and Control (Springer, London, 2012).Google Scholar
4. Wang, K., Yan, G., Ma, G. and Ye, D., “An earthworm-like robotic endoscope system for human intestine: Design, analysis, and experiment,” Ann. Biomed. Eng. 37 (1), 210–221 (2009).Google Scholar
5. Lin, H. T., Leisk, G. G. and Trimmer, B., “GoQBot: A caterpillar-inspired soft-bodied rolling robot,” Bioinspir. Biomim. 6 (2), 026007 (2011).Google Scholar
6. Yao, J. J., Gao, S., Jiang, G. L., Hill, T. L., Yu, H. and Shao, D., “Screw theory based motion analysis for an inchworm-like climbing robot,” Robotica 33 (8), 1704–1717 (2015).Google Scholar
7. Li, C., Kessens, C. C., Young, A., Fearing, R. S. and Full, R. J., “Cockroach-Inspired Robot Reveals Principles of Ground-Based, Dynamic Self-Righting,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, South Korea, 2016, pp. 2128–2134.Google Scholar
8. Bolotnik, N. N., Zeidis, I. M., Zimmermann, K. and Yatsun, S. F., “Dynamics of controlled motion of vibration-driven systems,” J. Comput. Syst. Sci. Int. 45 (5), 831–840 (2006).Google Scholar
9. Bolotnik, N. N. and Figurina, T. Y., “Optimal control of the rectilinear motion of a rigid body on a rough plane by means of the motion of two internal masses,” PMM – J. Appl. Math. Mech. 72 (2), 126–135 (2008).Google Scholar
10. Chernousko, F. L., “Analysis and optimization of the motion of a body controlled by means of a movable internal mass,” PMM – J. Appl. Math. Mech. 72 (6), 819–842 (2006).Google Scholar
11. Chernousko, F. L., “On the optimal motion of a body with an internal mass in a resistive medium,” J. Vib. Control 14 (1–2), 197–208 (2008).Google Scholar
12. Zimmermann, K., Zeidis, I. and Behn, C., Mechanics of Terrestrial Locomotion: With a Focus on Non-Pedal Motion Systems (Springer, Berlin, 2009).Google Scholar
13. Fang, H. B. and Xu, J., “Dynamics of a mobile system with an internal acceleration-controlled mass in a resistive medium,” J. Sound Vibr. 330 (16), 4002–4018 (2011).Google Scholar
14. Figurina, T. Y., “Optimal control of system of material points in a straight line with dry friction,” J. Comput. Syst. Sci. Int. 46 (2), 227–233 (2007).Google Scholar
15. Fang, H. B. and Wang, K. W., “Piezoelectric vibration-driven locomotion systems – Exploiting resonance and bistable dynamics,” J. Sound Vibr. 391, 153–169 (2016).Google Scholar
16. Li, H., Furuta, K. and Chernousko, F. L., “A Pendulum-Driven Cart Via Internal Force and Static Friction,” Proceedings of the International Conference on Physics and Control, Saint Petersburg, Russia, 2005, pp. 15–17.Google Scholar
17. Li, H., Furuta, K. and Chernousko, F. L., “Motion Generation of the Capsubot Using Internal Force and Static Friction,” Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, USA, 2006, pp. 6575–6580.Google Scholar
18. Liu, Y., Pavlovskaia, E. and Wiercigroch, M., “Experimental verification of the vibro-impact capsule model,” Nonlinear Dyn. 83 (1), 1029–1041 (2015).Google Scholar
19. Fang, H. B., Li, S. Y., Wang, K. W. and Xu, J., “A comprehensive study on the locomotion characteristics of a metameric earthworm-like robot: Part A: Modelling and gait generation,” Multibody Syst. Dyn. 34 (4), 391–413 (2015).Google Scholar
20. Hasanzadeh, S. and Tootoonchi, A. A., “Ground adaptive and optimized locomotion of snake robot moving with a novel gait,” Auton. Robot. 28 (4), 457–470 (2010).Google Scholar
21. Hirose, S. and Morishima, A., “Design and control of a mobile robot with an articulated body,” Int. J. Robot. Res. 9 (2), 99–114 (1990).Google Scholar
22. Zarrouk, D. and Fearing, R. S., “Controlled in-plane locomotion of a hexapod using a single actuator,” IEEE Trans. Robot. 31 (1), 157–167 (2015).Google Scholar
23. Song, C. W., Lee, D. J. and Lee, S. Y., “Bioinspired segment robot with earthworm-like plane locomotion,” J. Bionic Eng. 13 (2), 292–302 (2016).Google Scholar
24. Arai, M., Tanaka, Y., Hirose, S., Kuwahara, H. and Tsukui, S., “Development of “Souryu-IV” and “Souryu-V:” Serially connected crawler vehicles for in-rubble searching operations,” J. Field Robot. 25 (1–2), 31–65 (2008).Google Scholar
25. Fang, H. B. and Xu, J., “Stick-slip effect in a vibration-driven system with dry friction: Sliding bifurcations and optimization,” J. Appl. Mech. – Trans. ASME 81 (5), 51001 (2014).Google Scholar
26. Fang, H. B. and Xu, J., “Dynamics of a three-module vibration-driven system with non-symmetric Coulomb's dry friction,” Multibody Syst. Dyn. 27 (4), 455–485 (2012).Google Scholar
27. Behn, C. and Zimmermann, K., “Adaptive λ-tracking for locomotion systems,” Robot. Auton. Syst. 54 (7), 529–545 (2006).Google Scholar
28. Volkova, L. Y. and Yatsun, S. F., “Simulation of the plane controlled motion of a three-mass vibration system,” J. Comput. Syst. Sci. Int. 51 (6), 859–878 (2012).Google Scholar
29. Mei, L., Liu, J. and Fu, Z., “Calculation of electromagnet attractive force and simulation analysis,” Micromotors 45 (6), 6–9 (2012).Google Scholar
30. Gohar, R. and Rahnejat, H., Fundamentals of Tribology (Imperial College Press, London, 2012).Google Scholar
Supplementary material: File

Zhan et al. supplementary material

Zhan et al. supplementary material 1

Download Zhan et al. supplementary material(File)
File 22.8 MB