This thesis discusses the mechanics of mobile robots for terrestrial and aquatic locomotion. Vibration-driven locomotion systems are characterised by an internal periodic excitation, which is transformed to a directed motion due to asymmetric properties of the system. To perform a two-dimensional and controllable locomotion, mechanical properties of robots are investigated dependent on the frequency of the internal excitation. The mechanical description of the robots is done using analytical and numerical methods and supported by experimental studies. The applicability of the results in mobile robots is proved by prototypes.On the basis of mechanical fundamentals, terrestrial and aquatic locomotion principles are discussed and classified. Actuators are reviewed. The purpose is to evaluate the performance as vibration sources for terrestrial and aquatic systems. Piezoelectric bending elements are particular suitable for it. An extensive overview on the state of the art shows the great potential of vibration-driven locomotion systems for miniaturised applications in technics.Systems with bristles can perform unidirectional terrestrial locomotion. Different working principles of bristles are studied based on a rigid body model and experimental investigations. A prototype for the locomotion in tubes is presented. To perform a controllable two-dimensional locomotion with only one actuator, it is needed to overcome the limits of rigid body systems. The applied approach uses the frequency-dependent vibration behaviour of elastic systems, like beams and plates. Models of continuum mechanics and finite element methods are used and supported by experiments. Based on the investigations, a programmable and remote controlled prototype is developed. The locomotion of it can be controlled on different surfaces by a change of the excitation frequency. The velocity of the prototype is up to 100 mm/s and it can support five times its own weight.Concluding, an innovative prototype with a single piezoelectric actuator for a controllable locomotion on flat ground and floating in fluids is developed. The terrestrial and aquatic locomotion behaviour of the robot is investigated. The carrying capacity of it is calculated using a hydrostatic model.
Die Mechanik von mobilen Robotern für terrestrische und aquatische Lokomotion ist der Gegenstand der Arbeit. In den untersuchten Systemen wird die periodische Erregung eines inneren Antriebs durch nicht symmetrische Systemeigenschaften in eine gerichtete Fortbewegung gewandelt. Durch die Nutzung des frequenzabhängigen Schwingungsverhaltens von elastischen Systemen, wie Balken oder Platten, werden Systeme realisiert, die durch nur einen Antrieb eine steuerbare zweidimensionale Lokomotion auf festem Untergrund und an der Oberfläche von Flüssigkeiten durchführen können. Der Schwerpunkt der Arbeit liegt auf der mathematisch-mechanischen Beschreibung der Roboter mittels analytischer und numerischer Methoden sowie ihrer experimentellen Untersuchung. Prototypen mobiler Roboter dienen dem funktionellen Nachweis.
Auch im Buchhandel erhältlich: Zur Mechanik vibrationsgetriebener Roboter für terrestrische und aquatische Lokomotion / Felix Becker Ilmenau : Univ.-Verl. Ilmenau, 2015. - XIX, 149 S. ISBN 978-3-86360-124-9 URN urn:nbn:de:gbv:ilm1-2015000338 Preis (Druckausgabe): 21,30 €