Research On Motion Mechanism And Geometry Of Mobile Robot Driven By Vibration Source

In recent years,with the continuous improvement of mobile robot technology,its motion forms are becoming more and more diverse.With the help of bionics,it has become the goal of many robot designers to imitate the peristalsis of earthworm and other animals.In order to achieve this goal,scholars propose to study the vibration driven mobile robot.The research on the mechanism of vibration generated movement is an important part of the research on vibration driven mobile robot.The motion of the vibration driven mobile robot is transformed from the vibration of the unbalanced mass produced by the vibration source into the vibration of the vertical and horizontal forces.The frequency of the vertical and horizontal vibrations is the same.Because of the relationship of the structure,the vertical force will deflect the whole mechanism,so that the robot moves to a certain direction.Because of its simple structure,easy miniaturization,good sealing and strong controllability,it has become a research hotspot in recent years.In this paper,based on the theoretical knowledge of vibration driven mobile robot,a kind of geometry of vibration driven mobile robot is established and its theoretical research is carried out.After that,the geometry and the motion mechanism are analyzed through experiments.First of all,according to the actual needs of the geometric configuration of the vibration driven mobile robot,the mechanical model of the vibration drive system is established,and the corresponding dynamic equation is given;the three-dimensional software Creo is used to establish the geometric configuration of the vibration driven mobile robot,and the transmission principle and the movement principle are pointed out briefly.Secondly,based on the theory of vibration generation,mechanical vibration,simple harmonic vibration and simple harmonic vibration synthesis,the paper studies the motion mechanism of the vibration driven mobile robot,and uses ANSYS to carry out the dynamic and static simulation analysis,modal simulation analysis and structural optimization simulation analysis of its configuration.The simulation results show that the moving efficiency of the vibration driven mobile robot mechanism Whether the structure is reasonable,whether the vibration is in a reasonable range,and whether there is resonance.Finally,it introduces the construction of the experimental platform,the establishment of the control system,the composition of the experimental device,the selection of various components and the experiments of the experimental prototype in different environments.The experimental results show that the obtained motion mechanism is reasonable and correct,which can provide a meaningful reference for the research of the vibration moving robot.