Optimal control of the multi-module vibration-driven locomotion robot

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

doi:10.1016/j.jsv.2022.116867

Cited by 12 publications

(5 citation statements)

References 27 publications

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“…The bifurcation analysis of the stick-clip locomotion of a similar vibration-driven system is studied in [4], taking into account different dry friction conditions. In [5,6], the authors considered the possibilities of optimizing the control algorithms of the vibration-driven robots in order to maximize their translational speed and minimize power consumption. The papers [7,8] are devoted to improving the locomotion systems of the vibration-driven capsule-type robots and to investigating the friction influence on the robot's oscillatory system dynamic response.…”

Section: Introductionmentioning

confidence: 99%

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

Korendiy¹,

Kachur²,

Gurey³

et al. 2023

Vib. proced.

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Vibration-driven locomotion principles are currently of significant interest among designers and researchers dealing with mobile robotics. Among a great variety of robots chasses, the wheeled ones are the most commonly used. The major purpose of this study consists in defining the dynamic characteristics of the wheeled vibration-driven robot equipped with the centrifugal (inertial) vibration exciter (unbalanced rotor) and overrunning clutches ensuring the robot’s wheels rotation in one direction. The research methodology is divided into three basic stages: developing the robot’s dynamic diagram and deriving the motion equations followed by numerical modeling in the Mathematica software; designing the 3D-model and simulating the robot motion in the SolidWorks software; creating the experimental prototype and conducting the full-scale tests. The obtained results show the time dependencies of the robot’s body acceleration, speed, and displacement at certain operational conditions. The main scientific novelty of the paper resides in substantiating the relationships between the robot’s design parameters and its dynamic characteristics under different operational conditions. The performed investigations can be useful for researchers and designers dealing with vibration-driven robots, capsule-type locomotion systems, pipelines inspecting vehicles, etc.

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Section: Introductionmentioning

confidence: 99%

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

Korendiy¹,

Kachur²,

Gurey³

et al. 2023

Vib. proced.

View full text Add to dashboard Cite

show abstract

“…A similar vibration-driven system is studied in [3] from the viewpoint of bifurcation analysis of its stick-clip locomotion under the conditions of dry friction. 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.…”

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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“…Another direction of development of the bristle-type robots is focused on combining several independent robotic units (modules) into a single locomotion system. An example of such a design is studied in ( Diao et al, 2022 ; Diao et al, 2021 ) from the viewpoint of optimizing its control system to improve locomotion performance. The possibilities of implementing bristle-type multi-module systems in the processes of inspecting and cleaning the pipelines are substantiated in Gmiterko et al (2017) .…”

Section: Introductionmentioning

confidence: 99%

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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Optimal control of the multi-module vibration-driven locomotion robot

Cited by 12 publications

References 27 publications

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

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

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

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

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