Abstract
AbstractThis report presents an experimental study on the vibro-impact-driven capsule, working under different friction conditions, including isotropic and anisotropic resistant forces. The experimental apparatus provided a capacity of not only varying friction force but also the two types of friction, including isotropic and anisotropic friction. Under isotropic friction (e.g., the friction forces are the same in both forward and backward direction), the resistant force has significant effects on the progression rate and the moving direction of the system. For anisotropic friction, two levels of the anisotropic ratio between forward and backward friction were investigated. The two such levels were made by varying the inclined angle of a chute surface. Under a higher anisotropic ratio, high friction and low excitation force are required to obtained forward motion.KeywordsVibro-impactCapsule robotsFriction effect
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