Rapid-Prototyping of Vibration-Driven Propulsion System for Robots and its Investigation

The paper presents results of experimental studies of a vibration-driven propulsion system for mobile worm-like robots. The propulsion system is made from standard electromagnetic relays of small ratings. Such the relatively simple design can be used to develop students’ skills in experimental works. Besides, this construction also makes it easy to understand the basics of vibration-driven worm-like robots and the principles of their control. The locomotion of the worm-like robot was implemented on a horizontal surface inside linear guides. The paper describes the simplest open-loop control system. The main parameters that affect the speed of locomotion were studied. It was found that the average speed of directional movement is on the order of 1 mm per second. The magnitude of the applied voltage practically does not influence the average speed. On the other hand, an increase in frequency leads to a near directly proportional increase in the average speed.