Open Access. Powered by Scholars. Published by Universities.®
Acoustics, Dynamics, and Controls Commons™
Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Acoustics, Dynamics, and Controls
Dynamics And Steering Of A Vibration-Driven Bristle Bot In A Pipe System, Ian Stewart
Dynamics And Steering Of A Vibration-Driven Bristle Bot In A Pipe System, Ian Stewart
All Theses
Soft vibrational robots are robots that incorporate compliant structures into their design and are driven by oscillating actuators. A recent, popular version of a soft vibrational robot is the bristle bot, which uses flexible bristles and a vibration motor to propel itself across surfaces and through pipes. This motion is primarily driven by stick-slip dynamics resulting from asymmetric frictional forces applied at the bristle tips. Depending on the frequency of vibration of the motor, the robot experiences various resonance regions allowing it to maneuver in different directions. Attaching bristles to all sides of the robot and placing it in a …