Dynamics of a wheeled robot driven by an unbalanced rotor and equipped with the overrunning clutches

Korendiy, Vitaliy; Kachur, Oleksandr; Gurey, Volodymyr; Kuzio, Igor; Hurey, Tetyana; Havrylchenko, Oleksandr

doi:10.21595/vp.2022.23103

Cited by 3 publications

(6 citation statements)

References 12 publications

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“…The present research continues the authors’ previous investigations, which are published in ( Korendiy et al, 2022f ; Korendiy et al, 2022g ; Korendiy et al, 2023 ) and focused on theoretical and experimental studying of the dynamic behavior of the wheeled vibration-driven robots equipped with inertial exciters (unbalanced rotors) and rod-type suspensions. In this paper, the enhanced pantograph-type mechanism is proposed to be implemented as the robot’s suspension.…”

Section: Introductionsupporting

confidence: 66%

“…This influences the robot’s power consumption and average translational velocity. In addition, it is necessary to mention that the general locomotion character and operating conditions of the considered robot correspond to the ones previously modeled, simulated, and experimentally tested in ( Korendiy et al, 2022a ; Korendiy et al, 2022b ; Korendiy et al, 2022c ; Korendiy et al, 2022d ; Rusu and Tatar, 2022 ; Tagliavini et al, 2022 ; Loukanov, 2015 ; Loukanov and Stoyanov, 2015 ; Loukanov et al, 2016a ; Loukanov et al, 2016b ; Loukanov, 2016 ; Korendiy et al, 2022f ; Korendiy et al, 2022g ; Korendiy et al, 2023 ). In the considered literature, the average speed of similar robotic systems does not exceed 20 … 36 mm/s, while the proposed wheeled vibration-driven robot with the enhanced pantograph-type suspension can reach an average speed of over 40 mm/s.…”

Section: Resultsmentioning

confidence: 87%

“…The proposed robot’s suspension, mathematical and simulation models, as well as the obtained results can be used by designers and researchers of similar vibration-driven locomotion systems while implementing their experimental and industrial prototypes for various purposes, particularly, for monitoring and cleaning the pipelines. In distinction to the existent papers devoted to the wheeled vibration-driven robots, in particular, ( Korendiy et al, 2022a ; Korendiy et al, 2022b ; Korendiy et al, 2022c ; Korendiy et al, 2022d ; Rusu and Tatar, 2022 ; Tagliavini et al, 2022 ; Loukanov, 2015 ; Loukanov and Stoyanov, 2015 ; Loukanov et al, 2016a ; Loukanov et al, 2016b ; Loukanov, 2016 ; Korendiy et al, 2022f ; Korendiy et al, 2022g ; Korendiy et al, 2023 ), the proposed improved design of the pantograph-type locomotion system allows for efficient using both horizontal and vertical components of the centrifugal forces generated due to the unbalanced mass rotation and actuating the robot’s body. The vast majority of the existent vibration-driven robots with centrifugal (inertial) exciters effectively utilize only the horizontal components of the disturbing forces, while the proposed system allows for increasing the operational efficiency of the exciter.…”

Section: Resultsmentioning

confidence: 99%

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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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Section: Introductionsupporting

confidence: 66%

Section: Resultsmentioning

confidence: 87%

Section: Resultsmentioning

confidence: 99%

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

Korendiy,

Kachur

2023

Front. Robot. AI

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“…While staying on a moving train, passengers and staff are exposed to vibrations and forces that occur when a rolling stock interacts with the track in straight and curved sections [1][2][3][4][5].…”

Section: Analysis Of Referencesmentioning

confidence: 99%

Studying the diagrams “force - deformation” of a pneumatic spring of a modern rolling stock at increased speeds

Kuzyshyn,

Kovalchuk,

Sobolevska

2024

MATEC Web Conf.

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The research object is a pneumatic spring of a modern rolling stock. Using a two - mass calculation scheme, the diagrams “force-deformation” of a pneumatic spring are designed at driving speed of 160-200 km/h and high-speed driving of 201-250 km/h. It is determined that when the diameter of the connecting pipeline is changed from 20 to 35 mm, the inclination angle of the diagram “force - deformation” of the pneumatic spring is changed at speed driving from 32 degrees up to 57 deg.; at high-speed driving from 30 deg. up to 48 deg. It is proposed to determine a pneumatic spring operation coefficient using the forms of the designed diagrams “force - deformation.” Studying the specified coefficient in the speed range from 160 to 250 km/h, and the connecting pipeline diameter from 20 to 35 mm showed that the values of the pneumatic spring operation coefficient vary from 0.089 to 0.24, and the dependencies are nonlinear. Using the pneumatic spring operation coefficient will make it possible to further evaluate the pneumatic spring suspension system operation depending on the operating conditions of the railway vehicle.

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“…The present paper is based on the authors' previous research published in [15,16]. The peculiarities of implementing the centrifugal exciter for actuating the wheeled robot are studied in [15], while the sliding two-module system dynamics is analyzed in [16].…”

Section: Introductionmentioning

confidence: 99%

Substantiating the excitation conditions of a two-module vibration-driven locomotion system with two unbalanced rotors

Korendiy¹,

Predko²,

Kotsiumbas³

et al. 2023

Vib. proced.

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Vibration-driven locomotion systems are widely used in various industries, particularly, in the form of capsule-type robots, wheeled platforms, worm-like units, etc. Because of the changeable operating conditions, such systems require continuous control of their kinematic and dynamic characteristics. The main purpose of the present paper is to define the optimal excitation conditions (forced frequencies and phase shifts) of a wheeled two-module vibration-driven robot equipped with two unbalanced rotors. The research methodology contains four stages: developing the robot’s dynamic diagram and mathematical model describing its motion; designing the robot’s simulation model in the MapleSim software; numerical modeling of the system locomotion conditions in the Mathematica software; simulating the system dynamic behavior in the MapleSim software. The obtained results show the time dependencies of the system’s kinematic characteristics at different phase shift angles of the unbalanced rotors. The major scientific novelty of this paper consists in substantiating the possibilities of adjusting the system’s operational parameters in accordance with the changeable technological requirements by means of changing the phase shift angles of the unbalanced rotors. The proposed ideas and obtained results can be used while developing new designs of robots based on the two-module vibration-driven systems and while improving the control systems for adjusting their performance in accordance with the changeable operational conditions.

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Dynamics of a wheeled robot driven by an unbalanced rotor and equipped with the overrunning clutches

Cited by 3 publications

References 12 publications

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

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

Studying the diagrams “force - deformation” of a pneumatic spring of a modern rolling stock at increased speeds

Substantiating the excitation conditions of a two-module vibration-driven locomotion system with two unbalanced rotors

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