Design and experimentation of miniature vibrating robot based on vibration isolating structure
To enhance the motion performance of vibration-driven robots,a vibration-driven robot based on vibration isolating structure is designed.The robot structure mainly consists of the robot body,vibration isolation structure,and driving feet.Firstly,two different vibration isolation structures are designed and compared through theoretical analysis.Subsequently,the motion principle of vibration driving is introduced,which is driven by the centrifugal force generated by the vibration motor.Finally,a prototype of the vibrating robot is fabricated and subjected to practical testing.Through tests on the straight linear motion,rotational motion,motion on different terrains,obstacle crossing,and load-carrying capacity of robot,a performance comparison of vibration isolation structures is conducted.The Z-like vibration isolation structure,which has superior performance is selected.At the same time,performance of the robot is evaluated,demonstrating a maximum speed of 181.34 mm/s on glass and the load ability is up to 300 g.These results validate the effectiveness of the designed vibration isolation structure,offering new insights for the design of vibrating robots.
万方数据
维普
