A new autogenous mobile system driven by vibration without impacts, excited by an impulse periodic force

Duong, The-Hung; Nguyen, Van-Du; La, Ngoc-Tuan

doi:10.1051/matecconf/201814804005

Cited by 2 publications

(2 citation statements)

References 25 publications

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“…Also, there are discussed the requirements needed to provide the robots' motion along a rough surface, in particular, the phenomenon of friction asymmetry [1] or one-way bearings [2]. In [3], the authors investigated the mobile vibratory system based on the Duffing oscillator with a cubic spring. The device was excited by alternating force acting between the internal mass and the working body.…”

Section: Review Of Modern Information Sources On the Subject Of The Pmentioning

confidence: 99%

Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

Korendiy¹

2018

Ukr. j. mech. eng. mater. sci.

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The purpose of research. Substantiation of inertial, stiffness and excitation parameters of mechanical oscillatory system of mobile vibratory robot in order to maximize its motion speed. Methodology. The technique of the research is based on fundamental concepts of engineering mechanics and theory of mechanical vibrations. In order to deduce the differential equations of motion of the mechanical system of mobile vibratory robot the Lagrange second order equations were used. The computation modelling of the system's motion caused by periodic excitation forces was carried out using MathCAD software. Results. The design diagram (model) of the two-mass mobile vibratory system with electromagnetic drive was constructed. The mathematical model of its motion was developed and the parameters of the resonance vibro-impact mode of its operation were substantiated. The steady-state and transient conditions of operation of the system under the influence of periodic excitation force of various magnitude were investigated. Scientific novelty. The structure of mobile vibratory device designed on the basis of two-mass oscillatory system with vibro-impact operation mode was substantiated. The differential equations of motion of the proposed system were set up taking into account the nonlinear stiffness characteristic of the elastic element connecting two oscillating bodies. The influence of the system's excitation parameters on its motion speed was analysed. This allows to substantiate the rational magnitude and frequency of the excitation force. Practical value. The results of the carried-out investigations can be used while designing and developing control systems of mobile vibratory transporting and robotic devices in order to ensure the possibility of changing the speed of their motion without changing the inertial and stiffness parameters of their mechanical oscillating systems. Scopes of further investigations. While carrying out further investigations it is necessary to study the possibility of changing the nonlinearity of stiffness characteristic of the elastic element in order to change the kinematic parameters of the system's motion. In addition, it is necessary to substantiate the mechanisms of changing the direction of motion of mobile vibratory robot.

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Section: Review Of Modern Information Sources On the Subject Of The Pmentioning

confidence: 99%

Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

Korendiy¹

2018

Ukr. j. mech. eng. mater. sci.

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“…An interesting design of a capsule-type robot with an active electromechanical transmission driving the leg-type locomotion mechanisms is developed and implemented as a laboratory prototype in ( Sun et al, 2022 ). Another set of investigations dedicated to the vibration-driven locomotion systems was initiated in ( Duong et al, 2018 ), where the authors substantiated the general idea of the robot structure based on Duffing oscillator. Papers ( Nguyen et al, 2020 ; NguyenDu and La, 2020 ) supplement previous research by applying the vibro-impact working regimes, which were theoretically and experimentally studied.…”

Section: Introductionmentioning

confidence: 99%

Locomotion characteristics of a wheeled vibration-driven robot with an enhanced pantograph-type suspension

Korendiy,

Kachur

2023

Front. Robot. AI

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Introduction: The paper considers the improved design of the wheeled vibration-driven robot equipped with an inertial exciter (unbalanced rotor) and enhanced pantograph-type suspension. The primary purpose and objectives of the study are focused on mathematical modeling, computer simulation, and experimental testing of locomotion conditions of the novel robot prototype. The primary scientific novelty of the present research consists in substantiating the possibilities of implementing the enhanced pantograph-type suspension in order to improve the robot’s kinematic characteristics, particularly the average translational speed.Methods: The simplified dynamic diagram of the robot’s oscillatory system is developed, and the mathematical model describing its locomotion conditions is derived using the Euler-Lagrange differential equations. The numerical modeling is carried out in the Mathematica software with the help of the Runge-Kutta methods. Computer simulation of the robot motion is performed in the SolidWorks Motion software using the variable step integration method (Gear’s method). The experimental investigations of the robot prototype operating conditions are conducted at the Vibroengineering Laboratory of Lviv Polytechnic National University using the WitMotion accelerometers and software. The experimental data is processed in the MathCad software.Results and discussion: The obtained results show the time dependencies of the robot body’s basic kinematic parameters (accelerations, velocities, displacements) under different operating conditions, particularly the angular frequencies of the unbalanced rotor. The numerical modeling, computer simulation, and experimental investigations present almost similar results: the smallest horizontal speed of about 1 mm/s is observed at the supplied voltage of 3.47 V when the forced frequency is equal to 500 rpm; the largest locomotion speed is approximately 40 mm/s at the supplied voltage of 10 V and forced frequency of 1,500 rpm. The paper may be interesting for designers and researchers of similar vibration-driven robotic systems based on wheeled chassis, and the results may be used while implementing the experimental and industrial prototypes of vibration-driven robots for various purposes, particularly, for inspecting and cleaning the pipelines. Further investigation on the subject of the paper should be focused on analyzing the relations between the power consumption, average translational speed, and working efficiency of the considerer robot under various operating conditions.

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A new autogenous mobile system driven by vibration without impacts, excited by an impulse periodic force

Cited by 2 publications

References 25 publications

Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

Locomotion characteristics of a wheeled vibration-driven robot with an enhanced pantograph-type suspension

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