Research on the wheel driver movement stability of micro robot

According to the dynamical knowledge,the locomotion equation has been erected for the wheel driver of micro robot in this paper,and some factors have been analyzed that influence the micro driver movement stability,and the main factor has been found.The variational regularity of the transmission force has been studied which is produced by the mesh of the initiative elasticity tine and driven elasticity tine in the test bed.And the result shows that the variable force is the important factor that makes the micro driver vibrate.