Automatic stabilization of the translational motion of a microrobot

The analog motion control of a microrobot with feedback requires a more complicated structure due to the corresponding sensors, microprocessors and actuators. Application of the digital control system allows the use of a control algorithm, such as the autopilot, without feedback, which allows us to simplify the system. We consider the stabilization of the motion of the microrobot on a horizontal surface along the given motion trajectory. Minimization of the deviation angle of the robot’s axis from the tangent to the motion trajectory is a criterion for quality control and can be implemented by the digital device with a hysteresis characteristic

A mobile vibro-robot for locomotion through pipelines

The subject of our work is the creation of different designs of mobile robots for the movement through pipelines and similar technical systems. Using the transversal vibrations of an elastic bristle body, allows us to develop a new crawling vibro-robot. The motion is mainly realized by anisotropic friction forces. For the design process, we use the well-known construction principle of combination of alternative systems. It enables the transfer of structural characteristics (i.e. its kinematics) from one object to another, leading to new desirable characteristics or optimisations of existing technical objects. An analytical model of the motion of the bristles is presented