This paper presents the design, mathematical development and experimental validation of a new vibration-driven locomotion module for capsule robots. The proposed system consists of a mass moving inside a body mass. A nonlinear elastic spring is used to connect the two masses, providing the ability to enhance the resonant characteristics. Being excited by a half-sine electromagnetic force, the internal mass periodically oscillates and thus generates locomotion. The system was found to move effectively in expected direction under isotropic friction condition. Bifurcation analysis showed that the system always has period-1 motion.

中文翻译：

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胶囊机器人振动驱动运动模块的改进

本文介绍了用于胶囊机器人的新型振动驱动运动模块的设计，数学开发和实验验证。所提出的系统由在体内运动的质量组成。非线性弹性弹簧用于连接两个质量，从而具有增强共振特性的能力。内部质量在半正弦电磁力的作用下周期性地振动，从而产生运动。发现该系统在各向同性摩擦条件下可沿预期方向有效移动。分叉分析表明，系统始终具有周期为1的运动。