Mathematical model and motion analysis of a wheeled vibro-impact locomotion system

Abstract

The paper is aimed at investigating the motion conditions of the wheeled vibro-impact locomotion system equipped with the twin crank-slider excitation mechanism and the additional braking mechanisms allowing only one-way rotation of the wheels. The novelty of the present research consists in the improved mathematical model describing the motion conditions of the vibro-impact system and the proposed parameters optimization technique that allows for maximizing the average translational velocity of the wheeled platform. The main idea of this technique is to provide the maximal velocities of internal bodies when they get in contact with the corresponding impact plates. The numerical modeling results describing the dynamic behavior of the vibro-impact system are obtained in Mathematica software and substantiate the correctness of the developed mathematical model and of the proposed parameters optimization technique. The paper can be of significant practical and scientific interest for researchers and engineers studying and improving the vibratory locomotion systems, e.g., for inspecting and cleaning the pipelines.

Kinematic analysis and geometrical parameters justification of a planetary-type mechanism for actuating an inertial vibration exciter

“…[3]. Considering the prospective fields of application of the controllable vibration exciters, they can be effectively implemented for such purposes as vibration-driven locomotion systems [4] and wheeled vibratory robots [5].…”

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

“…The initial idea of this paper is based on the investigations presented in [9,10,11], in which an interesting design of the wheeled robot driven by the centrifugal vibration exciter was proposed. This design idea acquired further development in the papers [12,13,14], where the improved crank-type exciter was implemented in the robot's drive in order to provide efficient vibro-impact locomotion conditions. The possibilities of equipping the in-pipe vibration-driven robot with the centrifugal (inertial) exciter (unbalanced rotor) are thoroughly studied in [15,16].…”

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

“…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.…”

“…The authors of the present research started working on the development of vibration-driven locomotion systems at the end of 2021 when the initial idea of implementing the twin (doubled) crank-slider excitation mechanism in a semidefinite vibratory system was stated ( Korendiy et al, 2021 ). Based on this idea, the mathematical model of the wheeled vibration-driven locomotion system was derived and numerically solved in ( Korendiy et al, 2022a ), whilst the initial design of the wheeled robot was developed and simulated in ( Korendiy et al, 2022b ). The experimental investigations on the motion conditions of the considered robot were performed in ( Korendiy et al, 2022c ), and the influence of the impact-gap value on the robot’s translational speed was analyzed in ( Korendiy et al, 2022d ).…”