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振动驱动移动机器人直线运动的滑移分岔

陈祺 占雄 徐鉴

陈祺, 占雄, 徐鉴. 振动驱动移动机器人直线运动的滑移分岔[J]. 力学学报, 2016, 48(4): 792-803. doi: 10.6052/0459-1879-16-157
引用本文: 陈祺, 占雄, 徐鉴. 振动驱动移动机器人直线运动的滑移分岔[J]. 力学学报, 2016, 48(4): 792-803. doi: 10.6052/0459-1879-16-157
Chen Qi, Zhan Xiong, Xu Jian. SLIDING BIFURCATIONS OF RECTILINEAR MOTION OF A THREE-PHASE VIBRATION-DRIVEN SYSTEM SUBJECT TO COULOMB DRY FRICTION[J]. Chinese Journal of Theoretical and Applied Mechanics, 2016, 48(4): 792-803. doi: 10.6052/0459-1879-16-157
Citation: Chen Qi, Zhan Xiong, Xu Jian. SLIDING BIFURCATIONS OF RECTILINEAR MOTION OF A THREE-PHASE VIBRATION-DRIVEN SYSTEM SUBJECT TO COULOMB DRY FRICTION[J]. Chinese Journal of Theoretical and Applied Mechanics, 2016, 48(4): 792-803. doi: 10.6052/0459-1879-16-157

振动驱动移动机器人直线运动的滑移分岔

doi: 10.6052/0459-1879-16-157
基金项目: 国家自然科学基金资助项目(11272236).
详细信息
    通讯作者:

    徐鉴,教授,主要研究方向:非线性动力学.E-mail:xujian@tongji.edu.cn

  • 中图分类号: O313

SLIDING BIFURCATIONS OF RECTILINEAR MOTION OF A THREE-PHASE VIBRATION-DRIVEN SYSTEM SUBJECT TO COULOMB DRY FRICTION

  • 摘要: 近年来,随着移动型机器人设计技术水平的不断提高,其运动形式日趋多样. 借助于仿生学的思想,模仿蚯蚓等动物的蠕动成为不少机器人设计者所追求的目标. 为了实现这一目标,学者们提出并研究了振动驱动系统. 本文研究了各向同性干摩擦下,单模块三相振动驱动系统的粘滑运动. 考虑到库伦干摩擦力的不连续性,振动驱动系统属于Filippov 系统. 基于此,运用Filippov 滑移分岔理论,分析了振动驱动系统不同的粘滑运动情况. 根据驱动参数的不同,系统运动的滑移区域被分成4 种基本情形. 对这些情形分类讨论,得到系统的6 种运动情况. 然后对这6 种运动情况进行归纳,最终得出系统一共存在4 种不同的粘滑运动,而且也解析地给出了发生这4 种粘滑运动的分岔条件. 分岔条件包含系统的3 个驱动参数,通过变化这些参数,得到了系统运动的分岔图. 借助分岔图,详细分析了随着驱动参数的变化,系统如何实现不同粘滑运动类型之间的切换,并从分岔角度给出了相应的物理解释. 最后,通过数值方法直接求解原运动方程,数值解法得到的4 种运动图像与理论分析一致,验证了系统运动分岔研究的正确性.

     

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出版历程
  • 收稿日期:  2016-06-06
  • 修回日期:  2016-06-13
  • 刊出日期:  2016-07-18

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