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首页> 外文期刊>International journal of non-linear mechanics >Motility of a model bristle-bot: A theoretical analysis
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Motility of a model bristle-bot: A theoretical analysis

机译：模型硬毛机器人的运动性：理论分析

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Bristle-bots are legged robots that can be easily made out of a toothbrush head and a small vibrating engine. Despite their simple appearance, the mechanism enabling them to propel themselves by exploiting friction with the substrate is far from trivial. Numerical experiments on a model bristle-bot have been able to reproduce such a mechanism revealing, in addition, the ability to switch direction of motion by varying the vibration frequency. This paper provides a detailed account of these phenomena through a fully analytical treatment of the model. The equations of motion are solved through an expansion in terms of a properly chosen small parameter. The convergence of the expansion is rigorously proven. In addition, the analysis delivers formulas for the average velocity of the robot and for the frequency at which the direction switch takes place. A quantitative description of the mechanism for the friction modulation underlying the motility of the bristle-hot is also provided. (C) 2015 Elsevier Ltd. All rights reserved.
机译：刷毛机器人是有腿的机器人，可以很容易地用牙刷头和小型振动引擎制成。尽管它们外观简单，但使它们能够通过利用与基底之间的摩擦来推动自身的机制绝非易事。在模型刷毛机器人上进行的数值实验能够重现这种机制，此外还揭示了通过改变振动频率来切换运动方向的能力。本文通过对模型的全面分析处理，详细说明了这些现象。通过适当选择的小参数展开来求解运动方程。扩展的收敛已得到严格证明。此外，分析还提供了机器人平均速度和方向切换发生频率的公式。还提供了对刚毛运动的摩擦调节的机理的定量描述。 （C）2015 Elsevier Ltd.保留所有权利。

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