Research On Miniature Swarm Robot Driven By A Single Vibration Motor

A low-cost,fast-running,small,easy-to-manufacture micro robot can play a huge role in a variety of applications such as swarm robot research,search and rescue,and industrial inspection.However,limited by actuators,energy supply methods,mechanical design,etc.,the existing micro-robots are often costly,slow running speed,and have complex manufacturing processes,which make it difficult to achieve large-scale use.In response to these limitations,this dissertation investigates an underactuated micro swarm robot platform with a single vibration motor as a power source.The dissertation focuses on the hardware structure,mathematical model,trajectory fitting method,simulation and experimental results of the underactuated micro swarm robot.The details are as follows:(1)By selecting simple components already available on the market,this project has resulted in the design of a centimeter scale,single vibrating motor driven miniature robot.The robot is made up of just four parts: a miniature vibration motor,a miniature lithium battery,a miniature control board with sensors,and a plastic housing.The innovative drive solution resulted in a 53% reduction in hardware costs compared to similar studies,a significant reduction in assembly time,and an increase in running speed to 2 cm/s.(2)The project investigates the mechanism of motion of an underactuated robot driven by a vibrating motor in two-dimensional space.It was found that the centrifugal force generated by the micro vibration motor generates force and moment at the contact point between the robot and the ground,causing the robot to move and rotate periodically,resulting in a circular trajectory in the horizontal plane.The forces on the robot were analyzed by building kinematic and dynamic models.Using an iterative computational approach,the trajectory of the robot is predicted,the impact of each parameter on the robot's operation is analyzed,and the structural design scheme of the robot is optimized.(3)By adjusting the speed and direction of the motor rotation,an implementation method is designed for the robot to make an approximate motion along an arbitrary path.The correctness of the robotics model was verified by computer simulation.A series of experiments were conducted to demonstrate the ability of the robots to move in straight,circular,and arbitrary curves,by changing the direction and duration of the voltage on the micro-vibrating motor.