A vibration-driven planar locomotion robot—<i>Shell</i>

Zhan, Xianxu; Xu, Jian; Fang, Hongbin

doi:10.1017/s0263574718000383

Cited by 31 publications

(5 citation statements)

References 29 publications

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“…The usual vibration-driven robots often use motors [6,7], piezoelectric materials [8,9] or magnetic coils [10,11] as their driving components. But there are certain limitations, such as high excitation frequency and low energy utilization rate caused by the high stiffness of the driving structure; or potential hazards caused by the introduction of external magnetic fields.…”

Section: Introductionmentioning

confidence: 99%

Dynamic modeling and analysis of a vibration-driven robot driven by a conical dielectric elastomer actuator

Wang¹,

Li²

2023

Vib. proced.

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This article aims to establish a theoretical model of a vibration-driven robot driven by a conical dielectric elastomer actuator and analyze its characteristics, in order to make up for the lack of theoretical model construction and parameter evolution analysis for this type of robot. This article introduces a vibration-driven robot driven by a conical dielectric elastomer actuator, and then establishes its dynamic model based on its electromechanical coupling and viscoelastic characteristics. Subsequently, simulation research is conducted using this model. Overall, this article derived a dynamic equation that can be applied to this type of robot, analyzed its motion characteristics, studied the effects of different parameters on it, and discussed the influence of viscoelasticity on vibration-driven robots. The proposed dynamic model and evolution law of vibration robots can provide theoretical guidance for subsequent control and optimization.

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Section: Introductionmentioning

confidence: 99%

Dynamic modeling and analysis of a vibration-driven robot driven by a conical dielectric elastomer actuator

Wang¹,

Li²

2023

Vib. proced.

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“…Cao et al [ 20 ] proposed a dielectric elastomer actuator (DEA)-driven reconfigurable crawling robot, demonstrating a fast-moving velocity of 0.9 BL/s. Zhan et al [ 21 ] proposed a miniature vibration-driven planar locomotion robot which realized locomotion based on the internal oscillations of two parallel oscillators and the anisotropic friction from a blade-like support. Lu et al [ 22 ] proposed a 3D printed anisotropic mobile robot, applying alternative magnetic fields to an electromagnet as an excitation source to control the vibration of the robot; anisotropic friction was generated using 3D printed anisotropic slender microfibers inspired by the structure of foxtail grass.…”

Section: Introductionmentioning

confidence: 99%

A Dielectric Elastomer Actuator-Driven Vibro-Impact Crawling Robot

Yan

Cai

et al. 2022

Micromachines

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Over the last decade, many bio-inspired crawling robots have been proposed by adopting the principle of two-anchor crawling or anisotropic friction-based vibrational crawling. However, these robots are complicated in structure and vulnerable to contamination, which seriously limits their practical application. Therefore, a novel vibro-impact crawling robot driven by a dielectric elastomer actuator (DEA) is proposed in this paper, which attempts to address the limitations of the existing crawling robots. The novelty of the proposed vibro-impact robot lies in the elimination of anchoring mechanisms or tilted bristles in conventional crawling robots, hence reducing the complexity of manufacturing and improving adaptability. A comprehensive experimental approach was adopted to characterize the performance of the robot. First, the dynamic response of the DEA-impact constraint system was characterized in experiments. Second, the performance of the robot was extensively studied and the fundamental mechanisms of the vibro-impact crawling locomotion were analyzed. In addition, effects of several key parameters on the robot's velocity were investigated. It is demonstrated that our robot can realize bidirectional motion (both forward and backward) by simple tuning of the key control parameters. The robot demonstrates a maximum forward velocity of 21.4 mm/s (equivalent to 0.71 body-length/s), a backward velocity of 16.9 mm/s, and a load carrying capacity of 9.5 g (equivalent to its own weight). The outcomes of this paper can offer guidelines for high-performance crawling robot designs, and have potential applications in industrial pipeline inspections, capsule endoscopes, and disaster rescues.

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“…Once the net force of their interaction is greater than the environmental resistance, rectilinear motion of the entire system can be obtained. To implement this, various driving means for the small body were proposed by researchers, such as vibration-driven [5,6], vibro-impact driven [7][8][9][10], and pendulum-like driven [11][12][13]. The common feature of these methods is that the small body needs to be controlled precisely in order to obtain a desired motion for the entire system.…”

Section: Introductionmentioning

confidence: 99%

The vibro-impact capsule system in millimetre scale: numerical optimisation and experimental verification

et al. 2020

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The vibro-impact capsule system has been studied extensively in the past decade because of its research challenges as a piecewise-smooth dynamical system and broad applications in engineering and healthcare technologies. This paper reports our team’s first attempt to scale down the prototype of the vibro-impact capsule to millimetre size, which is 26 mm in length and 11 mm in diameter, aiming for small-bowel endoscopy. Firstly, an existing mathematical model of the prototype and its mathematical formulation as a piecewise-smooth dynamical system are reviewed in order to carry out numerical optimisation for the prototype by means of path-following techniques. Our numerical analysis shows that the prototype can achieve a high progression speed up to 14.4 mm/s while avoiding the collision between the inner mass and the capsule which could lead to less propulsive force on the capsule so causing less discomfort on the patient. Secondly, the experimental rig and procedure for testing the prototype are introduced, and some preliminary experimental results are presented. Finally, experimental results are compared with the numerical results to validate the optimisation as well as the feasibility of the vibro-impact technique for the potential of a controllable endoscopic procedure.

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A vibration-driven planar locomotion robot—Shell

Cited by 31 publications

References 29 publications

Dynamic modeling and analysis of a vibration-driven robot driven by a conical dielectric elastomer actuator

Dynamic modeling and analysis of a vibration-driven robot driven by a conical dielectric elastomer actuator

A Dielectric Elastomer Actuator-Driven Vibro-Impact Crawling Robot

The vibro-impact capsule system in millimetre scale: numerical optimisation and experimental verification

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