Research On A Micro-robotic Platform Driven By Inertial Force Propulsion

This essay focuses on a micro-robotic platform driven by inertial force, doing researches on driving mode, characteristic of kinematics and dynamics of it under special conditions as viscous damping environment or narrow space. Combining with the vibration antifriction principle, we establish a mechanical model and kinematics and dynamics equations, formulas of displacement, velocity and acceleration by the Lagrange equation, the minimum angular velocity of rotating eccentric mass making system to move and the minimum angular velocity of rotating eccentric mass making system not jump. With the vibration motion of the micro-robotic platform, we analyze vibration friction model, so that the micro-robotic platform can adapt to the environment of viscous damping. Using the multi body dynamics analysis software to establish the type of micro-robotic platform, then we calculate curve under ideal condition.We design the software, hardware and control systems of the micro-robotic platform. After the experiment, we get the actual movement curve of the micro-robotic platform, and compare it with the curve obtained by simulation to verify the correctness of the theoretical analysis.