Miniature Mobile Robot Using Only One Tilted Vibration Motor
Abstract
:1. Introduction
2. Robot Design
2.1. Mechanical Design
2.2. Locomotion
2.3. Communication and Sensing
2.4. Electrical Circuit
2.5. Cost
3. Modeling
3.1. Kinematics and Dynamics Analysis
3.2. Trajectory Modeling
4. Motion Strategy
5. Experiments
5.1. Performance of the Motor
5.2. Following Circular Trajectories
5.3. Following Arbitrary Trajectories
5.4. Commuication and Sensing
6. Conclusions and Discussion
Supplementary Materials
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
Appendix A
Symbols | Description |
---|---|
Coordinate system 1 (on the vibration motor) | |
Coordinate system 2 (on the robot body) | |
Coordinate system 3 (the global coordinate system) | |
The mass of the rotor and eccentric mass | |
The angular speed of the vibration motor | |
axis | |
The centrifugal force generated by the rotor | |
The tilt angle of the motor | |
directions | |
directions | |
plane | |
plane | |
axis | |
The coefficient of friction between the robot legs and the ground | |
The mass of the robot | |
Gravitational acceleration | |
The distance between the origins of coordinate system 1 and 2 | |
The distance between the robot gravity center and the origin of coordinate system 2 | |
directions | |
directions | |
axis | |
axis | |
axis at the initial status | |
The time step for each iteration | |
directions | |
axis | |
directions | |
axis during each iteration | |
The position of the robot in the global coordinate system |
Parameters | Value |
kg | |
m | |
3600 rpm | |
30° | |
0.3 | |
. | kg |
m | |
0.01 m | |
s |
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Zhu, R.; Zhang, Y.; Wang, H. Miniature Mobile Robot Using Only One Tilted Vibration Motor. Micromachines 2022, 13, 1184. https://doi.org/10.3390/mi13081184
Zhu R, Zhang Y, Wang H. Miniature Mobile Robot Using Only One Tilted Vibration Motor. Micromachines. 2022; 13(8):1184. https://doi.org/10.3390/mi13081184
Chicago/Turabian StyleZhu, Renjie, Yifan Zhang, and Hongqiang Wang. 2022. "Miniature Mobile Robot Using Only One Tilted Vibration Motor" Micromachines 13, no. 8: 1184. https://doi.org/10.3390/mi13081184