Scholarlink

<p>This paper presents an innovative terrestrial robot employing a vibration-based locomotion system powered by a single DC motor with an eccentric rotating mass. The robot, composed of a U-shaped aluminum elastic beam and lightweight wooden feet, attains steady mobility by synchronizing torsional vibrations with centrifugal forces. Experimental and simulated analyses were performed at three angular velocities (ω<sub>1</sub> = 125.66&#xa0;rad/s, ω<sub>2</sub> = 251.33&#xa0;rad/s, ω<sub>3</sub> = 376.99&#xa0;rad/s) to assess stability, deviation, velocity, and hopping performance. The results indicated that a rise in angular velocity significantly improved locomotion efficiency. At ω<sub>1</sub>, the robot attained an average body velocity of 85.46&#xa0;mm/s and a hopping distance of 405.88&#xa0;mm. At ω<sub>2</sub>, the velocity rose to 221.24&#xa0;mm/s with a hopping distance of 418.24&#xa0;mm, but ω<sub>3</sub> achieved optimal performance with a velocity of 265.49&#xa0;mm/s and a hopping distance of 424.08&#xa0;mm. Deviation responses settled within ± 2&#xa0;mm after 2.5&#xa0;s at ω<sub>3</sub>, in contrast to more pronounced oscillations at ω<sub>1</sub>. Simulation results largely aligned with experimental outcomes in hopping distance (error &lt; 3&#xa0;mm at ω<sub>3</sub>) but routinely underestimated body velocity by 50–60%. The findings corroborate the suggested model for predicting vertical displacement, while underscoring the necessity for refinement to accurately capture horizontal velocity dynamics.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Experimental validation and simulation of a U-Shaped elastic beam robot for stable running locomotion

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年12月1日

查看全文
  • Wael Khalifa,
  • Mahmoud A. Essam,
  • M. Riad Ghazy,
  • Ahmed Abu El-fadl

摘要

This paper presents an innovative terrestrial robot employing a vibration-based locomotion system powered by a single DC motor with an eccentric rotating mass. The robot, composed of a U-shaped aluminum elastic beam and lightweight wooden feet, attains steady mobility by synchronizing torsional vibrations with centrifugal forces. Experimental and simulated analyses were performed at three angular velocities (ω1 = 125.66 rad/s, ω2 = 251.33 rad/s, ω3 = 376.99 rad/s) to assess stability, deviation, velocity, and hopping performance. The results indicated that a rise in angular velocity significantly improved locomotion efficiency. At ω1, the robot attained an average body velocity of 85.46 mm/s and a hopping distance of 405.88 mm. At ω2, the velocity rose to 221.24 mm/s with a hopping distance of 418.24 mm, but ω3 achieved optimal performance with a velocity of 265.49 mm/s and a hopping distance of 424.08 mm. Deviation responses settled within ± 2 mm after 2.5 s at ω3, in contrast to more pronounced oscillations at ω1. Simulation results largely aligned with experimental outcomes in hopping distance (error < 3 mm at ω3) but routinely underestimated body velocity by 50–60%. The findings corroborate the suggested model for predicting vertical displacement, while underscoring the necessity for refinement to accurately capture horizontal velocity dynamics.