摘要
A new type of locomotion mechanism is introduced in this paper. With vibrating motors used in controling the movement of the hopping locomotion mechanism, the simple hopping locomotion mechanism had two motors, when the current went through the vertical motor, the vertical motor would vibrate to cause the mechanism to go forward, and when the current went through the horizontal motor, the mechanism will go around itself. A spring was added to the mechanism to change the natural frequency of the mechanism, when the frequency of the motor was equal to the natural frequency of the mechanism, the mechanism would hop resonantly. With the resonant hopping, the load of the mechanism was greatly enlarged, and some sensors could be added to the mechanism. Optical sensors were used to detect the infrared source, the current that went through the sensors related to the distance between the infrared light. Three optical sensors was put on the left, right and the front the mechanism, when the mechanism detect the special infrared source, it would turn itself to the light, and go forward to the light. The experiments of the mechanism shown that the mechanism could work well on different surfaces freely, and the resonant hopping locomotion mechanism with infrared sensors could move to the special light by automatic regulation. Experimental results and theoretical studies demonstrate that the innovative design for hopping locomotion mechanism is superior.
A new type of locomotion mechanism is introduced in this paper. With vibrating motors used in controling the movement of the hopping locomotion mechanism, the simple hopping locomotion mechanism had two motors, when the current went through the vertical motor, the vertical motor would vibrate to cause the mechanism to go forward, and when the current went through the horizontal motor, the mechanism will go around itself. A spring was added to the mechanism to change the natural frequency of the mechanism, when the frequency of the motor was equal to the natural frequency of the mechanism, the mechanism would hop resonantly. With the resonant hopping, the load of the mechanism was greatly enlarged, and some sensors could be added to the mechanism. Optical sensors were used to detect the infrared source, the current that went through the sensors related to the distance between the infrared light. Three optical sensors was put on the left, right and the front the mechanism, when the mechanism detect the special infrared source, it would turn itself to the light, and go forward to the light. The experiments of the mechanism shown that the mechanism could work well on different surfaces freely, and the resonant hopping locomotion mechanism with infrared sensors could move to the special light by automatic regulation. Experimental results and theoretical studies demonstrate that the innovative design for hopping locomotion mechanism is superior.
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2005年第5期548-553,共6页
Optics and Precision Engineering
关键词
电动机
机械装置
机器人
传感器
robot hopping locomotion meehanism
friction
infrared sensor
resonance
