This paper shows a new study on the effect of various dry and isotropic friction levels on the progression and dynamic response of a vibro-impact locomotion system. An experimental vibro-impact self-propelled apparatus, which is able to vary the friction force while remaining the total weight of the system, was practically implemented. A new dimensionless model was developed based on the validated mathematical model, allowing to examine the effects of the excitation force and the friction force independently. The experimental data revealed that, the force ratio between the excitation magnitude and friction level would not be totally correct to represent the excitation effects in dimensionless modeling the system. The level of friction force may have a significant effect not only on how fast the system move, but also on which direction of the progression. Bifurcation analysis and basin of attraction were calculated to scrutinize the effect of friction on the scaled model. The results showed that various friction would lead to either period-1 or chaotic motion of the system. The new findings would be useful for further studies on the design and operation of vibro-impact driven locomotion systems and capsule robots.

本文显示了对各种干摩擦力和各向同性摩擦力水平对振动冲击运动系统的进程和动态响应的影响的新研究。实际实施了一种实验性的振动冲击自走式装置，该装置能够在保持系统总重量的同时改变摩擦力。在验证的数学模型的基础上，开发了一个新的无量纲模型，可以独立检查激励力和摩擦力的影响。实验数据表明，在无因次建模系统中，激励幅度和摩擦水平之间的力比不能完全正确地表示激励效果。摩擦力的大小不仅会对系统运动的速度产生重大影响，而且还可以指示前进的方向。计算分叉分析和吸引盆，以研究摩擦对比例模型的影响。结果表明，各种摩擦都会导致系统发生周期为1或混沌的运动。这些新发现将有助于进一步研究振动冲击驱动的运动系统和胶囊机器人的设计和操作。