Modelling of a Vibration-Driven Module for Capsule Locomotion Systems

This paper presents a model for locomotion systems based on the combination of vibration and impact of an oscillating mass with two-side elastic constraints. The proposed system is excited by a periodic half-sine waveform force. A mathematical model was developed to form a basis of the design and to choose proper operational parameters. The numerical solution showed that the system was able to move backward and forward as desired by simply reversing the excitation force. Several advantages of the new model, compared to the recent platform excited by square force were highlighted. Dynamics response of the new model was also analyzed by applying bifurcation technique. In addition, the new model was proved to able to move in desired direction under both anisotropic and isotropic friction conditions. This model is promising to apply in capsule robots, where the whole system must be encapsulated in a smooth form and should be able to move in different friction conditions.