A mechanical model of a two-degrees-of-freedom self-driving system with dry friction subject to simple harmonic excitation is established. The motion characteristics of the system are described and analyzed, and the optimal range of system parameter selection is obtained. The study found that in the low frequency region, with the decrease of the excitation frequency , the number of the impact induced by the grazing bifurcation gradually increases until the chatter sequence; In the high frequency, the chaotic motion can be observed; In a complete cycle, the motion of the substrate consists of one or more of three types: sticking motion, forward drive motion, and negative drive motion; the average driving speed of the system is sensitive to changes in the excitation frequency and mass ratio , the friction ratio , clearance and stiffness ratio have relatively weak influence on the system, and the best choice range of mass ratio is ; the maximum average speed of the forward and negative drive of the system occurs in the low frequency region and the small mass ratio; in the high frequency region, the substrate tends to be sticking motion.The research results and methods in this paper can provide some theoretical basis for the design and parameter optimization of the wheel-free self-driving system.
Key words
dry friction /
wheel-free self-driving system /
driving speed /
grazing bifurcation /
chatter
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