Exploiting the bistable dynamics in a two-module vibration-driven robot for locomotion performance enhancement

Zhao, Yuyang; Fang, Hongbin; Diao, Binbin; Zhang, Xiaoxu; Xu, Jian

doi:10.1016/j.jsv.2022.117387

Cited by 10 publications

(4 citation statements)

References 32 publications

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“…To obtain the obtained passivity-based control law consider the following theorem: Theorem 1. The dynamic model of the robot RV-3SB (7) represented in the state-space model, as appears in (8), is passive if the following control law is implemented:…”

Section: Passivity-based Control Of the Rv-3sb Robot Manipulatormentioning

confidence: 99%

“…The following references are important for the present study, taking into consideration the contribution to the dynamic model derivation of the RV-3SB robot. For example, in [8], bi-stable dynamics in a two-module vibration-driven robot are presented. Additionally, in [9], the dynamics equations of a Hexabot robot are obtained using the Lagrange equation of a second kind.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic Modeling and Passivity-Based Control of an RV-3SB Robot

Cardona,

Serrano,

García Cena

2023

Actuators

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This paper shows the dynamic modeling and design of a passivity-based controller for the RV-3SB robot. Firstly, the dynamic modeling of a Mitsubishi RV-3SB robot is conducted using Euler–Lagrange formulation in order to obtain a decoupled dynamic model, considering the actuator orientation besides the position of the analyzed robot. It is important to remark that the dynamic model of the RV-3SB robot is conducted based on kinematic model obtention, which is developed by the implementation of screw theory. Then, the passivity-based controller is obtained by separating the end effector variables and the actuator variables by making an appropriate coordinate transformation. The passivity-based controller is obtained by selecting an appropriate storage function, and by using Lyapunov theory, the passivity-based control law is obtained in order to drive the error variable, which is the difference between the measured end effector position variable and the desired end effector position variable. The passivity-based controller makes the error variable reach the origin in finite time, taking into consideration the dissipation properties of the proposed controller in order to stabilize the desired end effector position. A numerical simulation experiment is performed in order to validate the theoretical results obtained in this research. Using numerical experimentation, it is verified that the proposed control strategy is efficient and effective in driving the error variable to the origin in comparison with other modified techniques found in the literature. Finally, an appropriate discussion and conclusion of this research study are provided.

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Section: Passivity-based Control Of the Rv-3sb Robot Manipulatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Passivity-Based Control of an RV-3SB Robot

Cardona,

Serrano,

García Cena

2023

Actuators

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“…This behavior is achieved through a combination of sequential snapping-through and Euler buckling at the microscopic unit cell level. In another study, Zhao et al [41] integrated bistability with a vibration-driven mechanism to enhance the locomotion performance. They designed a twomodule vibration-driven robot with a bistable pre-buckling clamped-clamped beam.…”

Section: Introductionmentioning

confidence: 99%

Reusable energy-absorbers design harnessing snapping-through buckling of tailored multistable architected materials

Jin,

Hou,

Zhao

et al. 2024

Smart Mater. Struct.

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Multistable metamaterials are artificially engineered materials that possess microarchitectures capable of maintaining multiple stable configurations. However, the realization of mechanical metamaterials with numerous programmable stable configurations using Double-Curved Beam (DCB) elements remains an ongoing challenge. In this study, we exploit the snapping-through buckling phenomenon exhibited by architected DCB structures to devise a mechanical metamaterial with a unique deformation mode, encompassing Multi-stability, Multi-path, Multi-platform, and Multi-step characteristics, hence referred to as a 4M mechanical metamaterial. By employing DCB as fundamental building block elements, architected metamaterials with two-dimensional (2D) series or parallel lattices are successfully constructed, as well as three-dimensional (3D) tubular geometries, denoted as DCB-n-m-C and DCB-n-m-M metamaterials, respectively. These metamaterials exhibit reversible energy absorption characteristics and the stiffness can be transformed from positive to negative under both small and large elastic deformations. Functional gradient design and tailored deformation capability are given by adjusting the wall thickness of each layer of double-curved beams, thereby demonstrating the multi-path deformation features inherent in 4M metamaterials. DCB-n-m-M metamaterials has multiple energy platforms in the process of snapping-through, which reflects the multi-platform characteristics of 4M metamaterial. Consequently, novel properties such as multistability, programmability, and reusable energy absorption characteristics are achieved. To comprehensively understand the mechanical response of the metamaterials, a thorough investigation into the influence of geometric parameters is conducted, including the number of polygonal edges, the number of the layers, and the aspect ratio Q. This investigation involves a combination of theoretical analyses, numerical simulations, and experimental verifications. The introduced design strategy paves a way for the innovative design of multistable, multi-step, tailored, and reversible deformation metamaterials.

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“…The problems of maximizing the robot's translational speed with simultaneous minimization of the power consumption are currently comprehensively studied, particularly, in [11,12]. The papers [13,14] are dedicated to analyzing the dynamic behavior and sliding bifurcations of a multi-module vibration-driven robot under different dry-friction conditions.…”

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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Exploiting the bistable dynamics in a two-module vibration-driven robot for locomotion performance enhancement

Cited by 10 publications

References 32 publications

Dynamic Modeling and Passivity-Based Control of an RV-3SB Robot

Dynamic Modeling and Passivity-Based Control of an RV-3SB Robot

Reusable energy-absorbers design harnessing snapping-through buckling of tailored multistable architected materials

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

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