Studying the Influence of the Impact Gap Value on the Average Translational Speed of the Wheeled Vibration-Driven Robot

Korendiy, Vitaliy; Kachur, Oleksandr; Gursky, Volodymyr; Krot, Pavlo

doi:10.3390/iecma2022-12897

Cited by 6 publications

(8 citation statements)

References 21 publications

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“…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%

“…The proposed robot's suspension, mathematical and simulation models, as well as the obtained results can be used by designers and researchers of similar vibrationdriven 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, 10.3389/frobt.2023.1239137 FIGURE 9 Dependence of the robot's average locomotion speed on the supplied voltage and forced frequency.…”

Section: Discussionmentioning

confidence: 99%

“…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;. 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: Discussionmentioning

confidence: 99%

“…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 ). Similar investigations were held by numerous researchers worldwide ( Rusu and Tatar, 2022 ; Tagliavini et al, 2022 ).…”

Section: Introductionmentioning

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: Resultsmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

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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“…The initial idea of the present paper was proposed in the authors' papers [15] and [16]. The simplified dynamic diagram of the wheeled in-pipe robot was constructed in [15], where the mathematical modeling and computer simulation of the robot motion were also carried out.…”

Section: Introductionmentioning

confidence: 99%

Development and investigation of the vibration-driven in-pipe robot

Korendiy,

Kachur,

Predko

et al. 2023

Vib. proced.

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Vibratory machines are widely used for monitoring and cleaning various tubes, pipelines, intestines, vessels, etc. The problems of ensuring the prescribed dynamic characteristics of such equipment and simultaneous optimizing the power consumption are currently being solved by numerous researchers. The main purpose of this study is to investigate the locomotion characteristics of the novel vibration-driven design of the pipeline inspecting and cleaning robot actuated by an electromagnetic exciter and equipped with the size-adapting and self-locking mechanisms. The research methodology consists of four main stages: an overview of the enhanced robot design; constructing its dynamic diagram and deriving the differential equations of motion; performing the numerical modeling with the help of the Mathematica software and studying the robot’s kinematic characteristics; conducting virtual experiments by computer simulation of the robot motion in the SolidWorks software. The research results present the time dependencies of the robot’s displacement, speed, and acceleration at different working regimes (excitation forces, disturbing frequencies, etc.). The novelty of the performed investigations consists in substantiating the efficient locomotion conditions of the enhanced vibration-driven in-pipe robot. Further investigations can be focused on developing the full-scale laboratory prototype of the robot and conducting experimental studies. The obtained research results can be interesting for engineers and scientists who deal with similar vibration-driven pipeline robots.

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