Vibration Model Study on Mobile Micro-Robot in Liquid

The vibration model of micro robot which is driven by intelligent material and moves in liquid is the important basis to establish and study its dynamic performance.On the basis of established statics model,this paper sets up the vibration model without and with liquid friction and the simulation and experiment have been done.The results show that the established vibration model is quite close to the physical model.With the input driving signal frequency increasing,the vibration frequency of micro robot without liquid friction increases.When the frequency of driving signal applied to the vibration model with liquid friction is in a certain scope,the micro robot can vibrate in spite of liquid friction.Furthermore,posameters suchas the rotating stiffness of two flexible hinges of the micro displacement amplifying mechnicsm attached to the micro and the liqaid surrounding etca,robot influence the vibration performance heavily.Also,the liquid property affects the vibration performance in some extend.