Modeling, driving characterization of collision and stick-slip vibration-driven system

Abstract

Abstract Considering the internal collision vibration-driven and external discontinuous resistance tolerance fusion conditions, the non-smooth dynamics characteristics of collision and stick-slip vibration-driven system are studied and experimented. Unilateral collision behavior of internal oscillators under the action of a periodic force to achieve system motion in different directions, it overcome the external Coulomb friction force and drives the system to drive in steady state under a certain direction. The kinematic and dynamic models of the system are established, and the collision and stick-slip driving motion of the system is analyzed based on the theory of non-smooth dynamics. The voice coil motor is used as the internal driving element, and the vibration driving test platform is designed and fabricated, and the driving characteristics of the system are studied experimentally. The study shows that there are three forms of movement in the steady state driving motion of the system: sticking motion, forward motion and backward motion; sine wave excitation and triangular wave excitation as input excitation have the characteristic of smoother operation with less shock; external excitation parameter regulation can change the system speed and direction of the movement; excitation frequency as a regulation parameter has the advantages of speed bandwidth, continuity, and so on; the system average driving speed in the numerical simulation and experimental test with the system average driving speed in numerical simulation and experimental test has the same rule of change, the backward motion is located in the low-frequency region, the forward motion is located in the high-frequency region, the friction coefficient and the excitation amplitude affect the size of driving speed. The results and methods of this study provide a corresponding theoretical basis for the design and parameter optimization of vibration-driven robots.