Substantiating the excitation conditions of a two-module vibration-driven locomotion system with two unbalanced rotors

Vibration-driven locomotion systems are widely used in various industries, particularly, the form of capsule-type robots, wheeled platforms, worm-like units, etc. Because changeable operating conditions, such require continuous control their kinematic and dynamic characteristics. The main purpose present paper is to define optimal excitation conditions (forced frequencies phase shifts) a two-module vibration-driven robot equipped with two unbalanced rotors. research methodology contains four stages: developing robot’s diagram mathematical model describing its motion; designing simulation MapleSim software; numerical modeling system Mathematica simulating behavior software. obtained results show time dependencies system’s characteristics at different shift angles major scientific novelty this consists substantiating possibilities adjusting operational parameters accordance technological requirements by means changing proposed ideas can be while new designs robots based on improving for performance conditions.