A Mobile Mechanism of a Particle with Slant Leg on a Vibratory Floor

摘要

This paper investigates moving characteristics of a particle which has the slant leg with rotational spring at the joint. The device travels on the sinusoidally excited floor due to the difference in friction force between forward and backward direction during stick-slip motion. Numerical simulation and experiment show that the moving direction and velocity are controlled by the exciting frequency. Furthermore, the effects of the angle of the slant leg and the sliding coefficient of friction on those characteristics are investigated.