Kinematics and Dynamics Analysis of a Micro-Robotic Platform Driven by Inertial-Force Propulsion
In this paper, we make the kinematics and dynamics analysis of a micro-robotic platform  driven by inertial force generated by eccentric masses. We establish the mathematical model and get the displacement, velocity and acceleration relationships of the platform. According to movement and stability requirements of the micro-robotic platform, we get a conclusion that the minimum angular velocity of the motor when the platform moves and the maximum angular velocity of the motor when the platform jumps.
Jianjun Xu, Pin Wang and Zhigang Fang
Q. M. Wang et al., "Kinematics and Dynamics Analysis of a Micro-Robotic Platform Driven by Inertial-Force Propulsion", Applied Mechanics and Materials, Vol. 733, pp. 531-534, 2015