Abstract

This paper studies modelling and dynamic analysis of underactuated capsule systems
exhibiting friction-induced hysteresis. The motion mechanism is novel in utilizing internal
centripetal torques generated by a vibration micro-motor mounted on the platform. Up to
now, most investigations in frictional interactions towards capsule systems were confined
into static or quasi-dynamic circumstance, where it is difficult to facilitate online use and
control. It is the first time the dynamic frictional characteristics (non-reversible drooping and
hysteresis) are studied towards these systems. An analytical study is primarily conducted to
reveal the non-reversible characteristic for the static friction, the pre-sliding regime as well as
the pure sliding regime, and the frictional limit boundaries are identified. Subsequently, the
studies are mainly focused on dynamic analysis, including friction-driven vibrational …