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The transverse vibration caused by the mass eccentricity of the whirling arm and the unbalanced magnetic pull of the motor rotor is a critical factor that affects the stability and safety of the rain erosion whirling arm. To investigate the transverse vibration characteristics of the rain erosion whirling arm during operation, a four-degree-of-freedom transverse vibration model of the rotor-rain erosion whirling arm is established using the lumped mass method. The differential equation of motion of the rotor-rain erosion whirling arm, considering the influence of mass eccentricity and unbalanced magnetic pull, is then established based on the Lagrange equation. This equation is numerically solved using the Runge-Kutta algorithm to investigate the axis trajectory and amplitude distribution of the rotor-rain erosion whirling arm. To reduce the fatigue damage caused by vibration, the active disturbance rejection decoupling control method is employed. Furthermore, the parameters of the extended state observer are adjusted using pole assignment and bandwidth. The simulation results reveal that the vibration amplitude of the rotating blade can be reduced to within 0.2 mm, referring to the BSS7393 test standard. Additionally, experimental research is conducted to compare the vibration of the rain erosion whirling arm before and after implementing the active disturbance rejection decoupling control. The results demonstrate that the active disturbance rejection decoupling control method effectively suppresses the vibration of the rain erosion whirling arm, illustrating its feasibility and effectiveness for system vibration control.

A soft robot employing dielectric elastomer actuators (DEAs) exhibits a flexible body and dexterity locomotion in unstructured environments. However, conventional power supplies required by DEAs pose an obstacle for small-scale robotic system. Triboelectric nanogenerator (TENG) is capable of harvesting kinetic energy from the environment to generate matching power for DEA. Yet, a TENG-driven, DEA-based robot is hindered due to the nonlinear and insufficient mechanical transmission in robotic motion. In this paper, we developed an uni-directional DEA-driven soft robot. It aligns the direction of DEA in extension with the robot motion to achieve high efficient energy conversion, yielding a maximum crawling velocity of 110mm (2.2 body-length) /sec and a payload capacity of 40g. Then a TENG-Bot, that is a TENG-soft robot conjunction system, is built using a freestanding TENG. With the benefit from the simple structure, and the high efficiency of the robot, the electrical energy generated by the TENG can directly drive the robot without additional control panels. Experiments demonstrate a linear relationship between the sliding speed of the TENG and the velocity of the soft robot, a direct control correspondence. The TENG-Bot offers a route for developing self-powered soft robots by harvesting the environment motion.