Study on Turning of Micro Robot Driven by Cyclic Force
Department of Mechanical Systems Engineering School of Engineering, Kinki University, 1 Takaya-Umenobe, Higashi Hiroshima, 739-2116, Japan
This paper deals with the turning mechanism of a brush microrobot using cyclic centrifugal force. Wheeled robots usually turn along the tangential velocity generated by rolling wheels. The microrobot studied here turns differently from usual wheeled robots. Turning mechanics of conventional mobile microrobots using mechanisms with numerous brush legs has not been clarified. This paper clarifies these mechanics. Using computer simulation and simple mathematical analysis, we derive a 2-dimensional rolling model of the brush robot driven by cyclic centrifugal force and indicate the existence of lateral force acting toward the robot. To confirm turning mechanics caused by lateral force, we conducted experiments with a circular trajectory using 3 prototypes. We confirmed the feasibility of turning mechanics caused by lateral force generated by cyclic centrifugal force.
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