Miniature Mobile Robot Using Only One Tilted Vibration Motor

Zhu, Renjie1,2; Zhang, Yifan1,2; Wang, Hongqiang1,2,3

2022-08-01

10.3390/mi13081184

MICROMACHINES   影响因子和分区

2072-666X

In miniature mobile robots, reducing the number of actuators can effectively reduce the size and weight of the robot. However, it is challenging to design a robot with as few actuators as possible without losing good motion performance. This work presented a simple-structured low-cost miniature mobile robot. It is driven by only a single tilted motor and yet is fully capable of being controlled to move forward and turn left or right on the ground. Based on the stick-slip mechanism, the robot's motion is achieved by interplaying between the centrifugal force generated by the vibration motor tilted on the robot and the friction force of the robot. The robot's speed can be controlled by regulating the magnitude and the period of the applied voltage. Finally, the robot can translate and rotate on the ground and follow various arbitrary paths. The prototype weighs only 11.15 g, costs $6.35, and is 20 mm in diameter and 25 mm in height. The proposed system is experimentally verified and demonstrates the controllability of the robot by the movement along a straight line, a circle, and more arbitrary paths.

miniature robots underactuated robots swarms mechanism design

SCI ; EI

英语

第一 ; 通讯

National Natural Science Foundation for Young Scientists of China[51905256] ; Natural Science Foundation of Guangdong Province of China[2020A1515010955] ; Natural Science Foundation of Liaoning Province of China (State Key Laboratory of Robotics)[2021-KF-22-11] ; Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004] ; Southern Marine Science and Engineering Guangdong Laboratory (Guangzhou)[K19313901]

Chemistry ; Science & Technology - Other Topics ; Instruments & Instrumentation ; Physics

Chemistry, Analytical ; Nanoscience & Nanotechnology ; Instruments & Instrumentation ; Physics, Applied

WOS:000845612700001

MDPI

20223712729407

Friction ; Machine design ; Mobile robots

Mechanical Design:601 ; Robotics:731.5 ; Control Equipment:732.1

Web of Science

1.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen Key Lab Biomimet Robot & Intelligent Sys, Shenzhen 518055, Peoples R China
2.Southern Univ Sci & Technol, Guangdong Prov Key Lab Human Augmentat & Rehabil, Shenzhen 518055, Peoples R China
3.Southern Marine Sci & Engn Guangdong Lab, Guangzhou 511458, Peoples R China

Zhu, Renjie,Zhang, Yifan,Wang, Hongqiang. Miniature Mobile Robot Using Only One Tilted Vibration Motor[J]. MICROMACHINES,2022,13(8).

Zhu, Renjie,Zhang, Yifan,&Wang, Hongqiang.(2022).Miniature Mobile Robot Using Only One Tilted Vibration Motor.MICROMACHINES,13(8).

Zhu, Renjie,et al."Miniature Mobile Robot Using Only One Tilted Vibration Motor".MICROMACHINES 13.8(2022).