Chinese Journal of Theoretical and Applied Mechani ›› 2017, Vol. 49 ›› Issue (2): 397-409.DOI: 10.6052/0459-1879-16-367

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Zhang Min, Xu Jian   

  1. School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, China
  • Received:2016-12-07 Revised:2017-02-22 Online:2017-03-15 Published:2017-03-21


In recent years, with the wide application of the industrial robot, the development of the mobile robot has attracted more and more attention. In order to finish the work accurately in some complex environments, vibrationdriven system has been proposed and researched by scholars. At the presence of anisotropic viscous friction, this paper investigates the motion law of a vibration-driven locomotion system in which two internal masses vibrate sinusoidally in two parallel guides and puts forward a design method to conduct the tasks like obstacle avoiding. Firstly, by using the second-kind Lagrange's equation, dynamical equations of the system are established; then, the motion law is numerically analyzed, the relationship between the internal drive parameters and the system trajectory and the system velocity are obtained by using the velocity-verlet algorithm; finally, based on the motion law of the vibration-driven locomotion system, the drive design method is proposed to make the system move along a prescribed path and realize the obstacle avoidance. To make the mobile system move along a prescribed path, the motion trajectory of the system could be obtained by curve discretization. Then, by changing the driving parameters of the internal mass block, the system could move along the preset path. In order to make the mobile system reach the goal position in the obstacle environment, an optimized path planning method based on the grid method, Floyd algorithm and the minimum vertex circle method is proposed, and the optimal motion path of the vibration-driven mobile system is obtained. Finally, obstacle avoiding can be realized through changing the driving parameters of the internal mass block.

Key words:

vibration-driven locomotion system|planar locomotion|sinusoidal driving|anisotropic viscous friction|driven design|obstacle avoidance

CLC Number: