An Approach to the Dynamics of a Vibration-Driven Robot

Some aspects of the motion dynamics of a body with moveable internal masses in a resisting medium have been studied. The system consists of a body with two internal masses, that can move relative to the body. One of the internal masses vibrates in the horizontal direction and the other in the vertical direction. To provide the asymmetry of the friction force, necessary for the progressive motion in a given direction, it suffices to apply bristles to the contact surfaces. The bristles are attached to the body by means of spiral springs. The equations of motion are given and solved numerically. A prototype applying these principles has been constructed and proved positive.