High efficiency driving of vibration propulsion mechanism by decentralized control

(Improvement of efficiency by optimization of amplitude ratios at each excitation force)

Abstract

This research proposes the high efficiency method of vibration propulsion mechanism by decentralized control using local feedback control. Recently, the various multi-articulated propulsion robot that is used when disasters happened, such as snake-like robot, worm-like robot, and so on, have been developed. Robustness for the variation of external environment is required to these robots. The driving method at resonance point by multi-point excitation by the decentralized control using local feedback control is proposed as robustness driving method. When the vibration propulsion mechanism is driven by decentralized control, the frequency and phase of driving signal of actuators are adjusted to natural vibration automatically. In this paper, the effect of wave shape and the amplitude ratio for driving efficient is investigated by simulation of the multi-point vibration system driven by driving signals which shape is rectangular waves and sinusoidal waves.