振动驱动移动机器人直线运动的滑移分岔力学学报.PDF

48 4 Vol. 48 No. 4 2016 7 Chinese Journal of Theoretical and Applied Mechanics July2016 1) 2) ( 200092) . . . . Filippov . Filippov . 4 . 6 . 6 4 4 . 3 . . 4 . O313 A doi 101879-16-157 SLIDING BIFURCATIONS OF RECTILINEAR MOTION OF A THREE-PHASE VIBRATION-DRIVEN SYSTEM SUBJECT TO COULOMB DRY FRICTION 1) Chen Qi Zhan Xiong Xu Jian2) (School of Aerospace Engineering and Applied Mechanics Tongji UniversityShanghai 200092 China) Abstract In recent years, mobile robots’ locomotion becomes diversified assisted by the continuous development of technologies in designing them. Inspired from bionics, earthworms’ peristalsis becomes an object that quite a few robot designers want their robots to imitate. To this end, vibration-driven system has been put forward and researched by scholars. In this paper, the stick-slip motion of a one-module vibration-driven system moving on isotropic rough surface is studied. In consideration of the discontinuity caused by dry friction, the system considered here is of Filippov type. Based on sliding bifurcation theory in Filippov system, dierent types of stick-slip motions are studied. According