Numerical Modelling and Simulation of Dynamic Parameters for Vibration Driven Mobile Robot: Preliminary Study

Malaysian Technical Universities Conference on Engineering and Technology 2017

Baharudin, M.E.^1 ; Nor, A.M.^1 ; Saad, A.R.M.^2 ; Yusof, A.M.^2

School of Manufacturing Engineering, Universiti Malaysia Perlis, Malaysia^1

Faculty of Technology, Universiti Malaysia Perlis, Malaysia^2

关键词: Dynamic parameters;    Horizontal forces;    Horizontal motion;    Horizontal oscillations;    Modelling and simulations;    Numerical integrations;    Simulation model;    Unbalanced mass;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/318/1/012059/pdf
DOI  :  10.1088/1757-899X/318/1/012059

来源: IOP

【 摘 要 】

The motion of vibration-driven robots is based on an internal oscillating mass which can move without legs or wheels. The oscillation of the unbalanced mass by a motor is translated into vibration which in turn produces vertical and horizontal forces. Both vertical and horizontal oscillations are of the same frequency but the phases are shifted. The vertical forces will deflect the bristles which cause the robot to move forward. In this paper, the horizontal motion direction caused by the vertically vibrated bristle is numerically simulated by tuning the frequency of their oscillatory actuation. As a preliminary work, basic equations for a simple off-centered vibration location on the robot platform and simulation model for vibration excitement are introduced. It involves both static and dynamic vibration analysis of robots and analysis of different type of parameters. In addition, the orientation of the bristles and oscillators are also analysed. Results from the numerical integration seem to be in good agreement with those achieved from the literature. The presented numerical integration modeling can be used for designing the bristles and controlling the speed and direction of the robot.