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Kinematic and Workspace-Based Synthesis of a 2-DOF Mechanism for Haptic Applications Read chapter Read first chapter

2015 | OriginalPaper | Chapter

Behavior of the Robot with Vibratory Excitation

Authors : T. Majewski, D. Szwedowicz

Published in: Multibody Mechatronic Systems

Publisher: Springer International Publishing

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Abstract

The paper presents a mini robot which moves as a result of vibratory forces. The robot has elastic bristles which allow the robot to vibrate. The vibration of the robot is generated by one or two unbalanced motors. With one motor the robot moves forward and with two motors the trajectory of the motor can be controlled. The paper presents the mathematical models of the robots, simulation of their behavior, prototypes, and some parameters which characterize their properties.

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Literature
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Alexander RM (1983) Animal mechanics. Wiley-Blackwell, Oxford
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Guillot A (2007) Handbooks of robotics, chapter 61, biologically-inspired robots. Springer, New York
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Jatsun S, Bolotnik N, Zimmerman K, Zeidis I (2007) Modelling of motion of vibratory robots. In: 12th IFToMM world congress (France)
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Boxerbaum AS, Kendrick M, Shaw KM et al (2012) Continuous wave peristaltic motion in a robot. Int J Robot Res 31(3):302–318CrossRef
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Godage IS, Nanayakkara T, Caldwell DG (2012) Locomotion with continuum limbs. In: IEEE/RSJ international conference on intelligent robots and Systems, Portugal
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Chernousko FL (2013) Snake-like locomotion of multilink mechanisms. J Sound Vib 9:237–256
Metadata
Title
Behavior of the Robot with Vibratory Excitation
Authors
T. Majewski
D. Szwedowicz
Copyright Year
2015
Book
Multibody Mechatronic Systems

Print ISBN: 978-3-319-09857-9

Electronic ISBN: 978-3-319-09858-6

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-3-319-09858-6_7