Dynamic response of vibro-impact capsule moving on the inclined track and stochastic slope

Duong, The-Hung; Van, Chi Nguyen; Ho, Ky-Thanh; La, Ngoc-Tuan; Ngo, Quoc-Huy; Nguyen, Khac-Tuan; Hoang, Tien-Dat; Chu, Ngoc-Hung; Nguyen, Van-Du

doi:10.1007/s11012-022-01521-9

Cited by 10 publications

(6 citation statements)

References 33 publications

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“…The paper [4] is focused on the optimization of the control algorithms for maximizing the translational speed and minimizing the power consumption of the vibration-driven robots. In [5,6], the authors proposed an improved locomotion system for capsule-type robots, studied the friction effects on the system's dynamic response, and investigated the robot's motion conditions on the inclined track. A separate direction of investigations of the stick-slip locomotion is dedicated to the anisotropic friction conditions ensuring this locomotion.…”

Section: Introductionmentioning

confidence: 99%

Simulation and experimental investigation of kinematic characteristics of the wheeled in-pipe robot actuated by the unbalanced rotor

Korendiy¹,

Kachur²,

Gurey³

et al. 2022

Vib. proced.

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Mobile robotic systems are currently of significant interest due to the wide range of possible applications. Among a great variety of mobile robots, specific attention is paid to the wheeled ones. The main purpose of this research consists in substantiating the possibilities of improving the vibration-driven robot equipped with the unidirectionally rotating wheels. The methodology of the present study contains the development of the robot’s 3D-model in the SolidWorks software, constructing the simplified dynamic diagram of the robot’s oscillatory system, and developing its simulation model in the MapleSim software. The research results are obtained by numerical solving of the motion equations in the MapleSim software, by simulating the robot locomotion conditions in the SolidWorks software, and by conducting experiments. The results present the main kinematic characteristics of the robot motion under different operational conditions. The major scientific novelty of this paper consists in developing the improved design of the wheeled robot driven by the centrifugal (inertial) vibration exciter and substantiating its operational peculiarities. The obtained results can be effectively used while creating the production prototypes of mobile robotic systems, particularly those for cleaning the pipelines and monitoring (inspecting) their inner surfaces, welds, joints, couplings, etc.

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Section: Introductionmentioning

confidence: 99%

Simulation and experimental investigation of kinematic characteristics of the wheeled in-pipe robot actuated by the unbalanced rotor

Korendiy¹,

Kachur²,

Gurey³

et al. 2022

Vib. proced.

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“…Vibro-impact crawling is an emerging type of robotic crawling principle that can, in principle, eliminate the necessity of complex anchoring mechanisms or tilted bristles in the robot designs, hence avoiding the aforementioned limitations faced by those crawling robots [18]. Vibro-impact crawling robots utilize the directional impact force to overcome the friction between the robot and the contact surface and realize directional locomotion, as has been previously demonstrated in [19][20][21]. Compared with the active two-anchor crawling robots, the internal oscillatory impact mechanism is the only necessary functional unit for a vibro-impact crawling robot, which significantly reduces the complexity and increases the robustness of the system.…”

Section: Introductionmentioning

confidence: 99%

Actuation strategy characterizations of a vibro-impact crawling robot driven by dielectric elastomer actuators

Cao,

Wu,

et al. 2024

Smart Mater. Struct.

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Vibro-impact crawling robots driven by the emerging dielectric elastomer actuators (DEAs) feature the advantages of reduced system complexity and bidirectional locomotion capability. However, due to the lack of systematic dynamic models and in-depth investigations, the fundamental locomotion principles of the robots are still unclear and therefore their applications in real-world scenarios remain hindered. In this paper, a comprehensive dynamic model of this robot is developed by considering the complex interactions between the electro-mechanical coupling, impact mechanism, and multiple nonlinear friction characteristics. By incorporating extensive modelling and experimental studies, we explain the fundamental principles that lead to the bidirectional locomotion of the robot. The actuation strategies for both forward and backward locomotion are characterized in-depth, which include the actuation frequencies, relative phases, and waveforms. Three typical contact surface cases (i.e. rigid & dry, rigid & viscous, compliant & viscous) are considered in this paper, where we report the changes in the optimal actuation strategies for bidirectional locomotion with the contact surfaces and reveal the influences of key factors of friction coefficient, viscosity, and material compliance. The key findings reported in this work can build foundations for developing a highly robust and efficient DEA-driven vibro-impact crawling robot for broad applications.

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“…1a, Chernousko [24,25] introduced a vibration-driven system that uses the interaction between a periodically driven internal mass (m 1 ) with periodic motion (x 1 ) and the main mass carrier (m 2 ) to overcome external resistance to achieve a stick-slip motion of the entire body (x 2 ). Recently, vibration-driven capsule [26], pendulum-like capsule [27,28] and vibro-impact capsule [29,30] were studied. The merit of such a vibration-driven system is that it can be integrated into an enclosed capsule without any external accessories, thus significantly reducing the risk of secondary trauma to the intestinal wall during the transit of the capsule.…”

Section: Introductionmentioning

confidence: 99%

Dynamic analysis of a soft capsule robot self-propelling in the small intestine via finite element method

et al. 2023

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To reduce potential trauma to the intestine caused by the rigid shell while also optimising its progression efficiency, an elastomer coating was applied to a self-propelled capsule robot for small-bowel endoscopy. The robot is self-propelled by its periodically excited inner mass interacting with the main body of the capsule in the presence of intestinal resistance. This work explored the dynamic responses of the capsule with different elastomer coatings (i.e., different elastic moduli and thicknesses) in the lumen of the small intestine through a three-dimensional finite element analysis. The driving parameters of the robot, including the amplitude, frequency and duty cycle of a square-wave excitation, were further tested to reveal the dynamics of this soft robot. By analysing numerical results, the proposed finite element model can provide quantitative predictions on the contact pressure, resistance force and robot-intestine dynamics under different elastomer coatings. It was found that the softer the elastomer coating is, the lesser the contact pressure between the robot and the intestine, thus implying lesser trauma. The findings of this work can provide design guidelines and an evaluation means for robotic engineers who are developing soft medical robots for bowel examinations as well as clinical practitioners working on capsule endoscopy.

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Dynamic response of vibro-impact capsule moving on the inclined track and stochastic slope

Cited by 10 publications

References 33 publications

Simulation and experimental investigation of kinematic characteristics of the wheeled in-pipe robot actuated by the unbalanced rotor

Simulation and experimental investigation of kinematic characteristics of the wheeled in-pipe robot actuated by the unbalanced rotor

Actuation strategy characterizations of a vibro-impact crawling robot driven by dielectric elastomer actuators

Dynamic analysis of a soft capsule robot self-propelling in the small intestine via finite element method

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