Harmonic Propulsion And Harmonic Controller

Abstract

A device and method for propelling objects using periodic or harmonic vibrations is described. The device comprises a flexible substrate or surface and a source of vibrational energy that is applied to the substrate or surface. Specific embodiments include a device which can move along a flat surface, which can climb a smooth vertical or slanted wall, which can move along a ceiling while suspended upside down, which can climb up a smooth hollow tube, or which can move through liquids.

1 . A device comprising: 
 a flexible substrate or first surface and    at least one source of vibrational energy attached to or in communication with the flexible substrate or first surface,    wherein vibrational energy is applied to the flexible substrate or first surface to cause periodic motion in the flexible substrate or first surface and the device is capable of translational motion along a second surface or through a fluid.    
   
   
       2 . The device of  claim 1 , wherein the vibrational energy is harmonic.  
   
   
       3 . The device of  claim 2 , wherein the vibrational energy causes the substrate or surface to flex in a harmonic fashion.  
   
   
       4 . The device of  claim 2 , wherein at least one of the at least one source of vibrational energy imparts vibrations to said substrate or first surface to cause said device to move in a translational fashion.  
   
   
       5 . The device of  claim 1 , wherein the second surface is other than horizontal.  
   
   
       6 . The device of  claim 1 , wherein a change in frequency of the vibrational energy causes the direction of the motion of the device to change.  
   
   
       7 . The device of  claim 1 , which also comprises an asymmetry element.  
   
   
       8 . The device of  claim 7 , wherein the asymmetry element comprises bristles, spines or spicules embedded in a flexible matrix, regular or irregular projections, fins, or a conformable mat.  
   
   
       9 . The device of  claim 8 , wherein the asymmetry element comprises bristles.  
   
   
       10 . The device of  claim 1 , wherein the flexible substrate is circular, rectangular, oval, square, or hemispherical.  
   
   
       11 . The method of  claim 1 , wherein the flexible substrate has first and second substantially parallel planar surfaces.  
   
   
       12 . A method for imparting translational motion to an object on a first surface or in a fluid, the object comprising a flexible substrate having at least one substantially flat surface and a source of vibrational energy attached to or in communication with at least one of the at least one substantially flat surface to apply vibrational energy to the flexible substrate, said method comprising the steps of: 
 (a) vibrating the object to produce harmonic vibration; and    (b) coupling the vibration to the first surface or fluid in an asymmetric way to produce translational motion by the object.    
   
   
       13 . The method of  claim 12 , wherein an asymmetry element produces a net force in one direction when averaged over the entire vibratory cycle.  
   
   
       14 . A method for imparting translational motion to an object having a flexible substrate or a first surface and a source of vibrational energy on a second surface or in a fluid, said method comprising the steps of: 
 (a) applying vibrational energy to the object to produce harmonic vibrations in the flexible substrate or first surface; and    (b) coupling the vibrations to the second surface in an asymmetric way to produce translational motion by the object.    
   
   
       15 . The method of  claim 14 , wherein a force in one direction during one part of the wave cycle is not counterbalanced by an equal and opposition force in the other direction.  
   
   
       16 . The method of  claim 14 , wherein an asymmetry element produces a net force in one direction when averaged over the entire vibratory cycle.