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Miniature Mobile Robot Using Only One Tilted Vibration Motor.

Renjie Zhu1,2, Yifan Zhang1,2, Hongqiang Wang1,2,3

  • 1Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China.

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Summary

This study introduces a low-cost miniature mobile robot using a single tilted motor. The robot achieves controlled movement and path following via a stick-slip mechanism, demonstrating efficient design for small robots.

Keywords:
mechanism designminiature robotsswarmsunderactuated robots

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Area of Science:

  • Robotics
  • Micro-robotics
  • Mechanical Engineering

Background:

  • Reducing actuators in miniature mobile robots is key for size and weight reduction.
  • Achieving precise motion control with minimal actuators presents a significant design challenge.
  • Existing designs often compromise performance for simplicity.

Purpose of the Study:

  • To present a simple-structured, low-cost miniature mobile robot.
  • To demonstrate controlled locomotion (forward, turning) using a single actuator.
  • To explore the potential of a stick-slip mechanism for miniature robot mobility.

Main Methods:

  • Utilizing a single tilted vibration motor to generate centrifugal force.
  • Implementing a stick-slip mechanism driven by motor vibration and friction.
  • Controlling robot speed and motion by regulating applied voltage magnitude and period.

Main Results:

  • The robot successfully translates and rotates on the ground.
  • Arbitrary path following (straight lines, circles) was experimentally verified.
  • The prototype is exceptionally small (20mm diameter, 25mm height) and lightweight (11.15g), with low cost ($6.35).

Conclusions:

  • A single-actuator miniature robot design is feasible and cost-effective.
  • The stick-slip mechanism offers a viable method for controlled locomotion in micro-robots.
  • This approach enables versatile movement capabilities in a compact, low-power system.