Abstract
This paper is concerned with the vibration-driven system which can move due to the periodic motion of the internal mass and the dry friction; the system can be modeled as Filippov system and has the property of stick-slip motion. Different periodic solutions of stick-slip motion can be analyzed through sliding bifurcation, two-parameter numerical continuation for sliding bifurcation is carried out to get the different bifurcation curves, and the bifurcation curves divide the parameters plane into different regions which stand for different stick-slip motion of the periodic solution. Furthermore, continuations with additional condition v=0 are carried out for the directional control of the vibration-driven system in one period; the curves divide the parameter plane into different progressions.
Highlights
Mobile mechanisms that can move due to the vibration of the internal mass have been widely researched, and these mechanisms have many advantages over conventional mobile systems, for example, easy fabrication, hermetic structure, and locomotion in the narrow environment
Chernousko [1] first proposed the horizontal motion of the system driven by the movable internal mass; the friction which acted on the body is anisotropic, which means the coefficient of friction in forward and backward direction is different
Fang et al [2] used the method of averaging to obtain an approximate expression of the average steady-state velocity when the stickslip phenomenon was not considered, optimal parameters of the internal controlled mass were determined to maximize the average velocity, and some control strategies were given to control the motion of system under the stick-slip effect
Summary
Mobile mechanisms that can move due to the vibration of the internal mass have been widely researched, and these mechanisms have many advantages over conventional mobile systems (driven by legs, wheels, wings, etc.), for example, easy fabrication, hermetic structure, and locomotion in the narrow environment. Fang et al [2] used the method of averaging to obtain an approximate expression of the average steady-state velocity when the stickslip phenomenon was not considered, optimal parameters of the internal controlled mass were determined to maximize the average velocity, and some control strategies were given to control the motion of system under the stick-slip effect. The approximate expression of average steady-state velocity was obtained through the method of averaging; optimal parameters (the amplitude and the phase shift of the horizontal and vertical vibration excitation forces) were determined to realize the maximum average velocity and to control the direction of motion.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
