A comparative study on the two vibration driven locomotion systems in various friction levels

La, Ngoc-Tuan; Nguyen, Thanh-Toan; Nguyen, Van-Du

doi:10.15625/0866-7136/15662

Cited by 4 publications

(2 citation statements)

References 29 publications

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“…Papers ( Nguyen et al, 2020 ; NguyenDu and La, 2020 ) supplement previous research by applying the vibro-impact working regimes, which were theoretically and experimentally studied. In ( Nguyen et al, 2021 ; La et al, 2021 ), the authors comprehensively investigated the influence of various friction types on the capsule-type system dynamic behavior under different operating conditions (with and without impact modes).…”

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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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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“…In [8], there is analyzed the dynamic behavior of a vibro-impact locomotion system subjected to the action different friction levels. The paper [9] presents a thorough comparative analysis of two vibration-driven locomotion systems: a common vibratory system and a vibro-impact one.…”

Section: Introductionmentioning

confidence: 99%

Mathematical modeling of forced oscillations of semidefinite vibro-impact system sliding along rough horizontal surface

Korendiy¹,

Gursky²,

Kachur³

et al. 2021

Vib. proced.

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The paper considers the motion conditions of a semidefinite vibratory system placed upon a rough horizontal surface. Such systems are sometimes called unrestrained or degenerate ones, and are usually used in various vibration-driven robots and capsules. Unlike the numerous existent investigations dedicated to a similar subject, the novelty of the present paper consists in the implementation of a crank mechanism for exciting oscillations of a double-mass vibro-impact system setting into planar locomotion a robot's movable body. A general design diagram of the improved semidefinite vibro-impact system is proposed, and the corresponding mechanical diagram is considered. The differential equations describing the system sliding (planar locomotion) along a rough horizontal surface are derived. A thorough analysis of the main inertia-stiffness, design, and excitation parameters influencing the system motion conditions is carried out. Performing the numerical modeling in MathCad software, the dynamic behavior of the robot's movable body is studied under the specified system's parameters and operational conditions.

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Dynamic Behavior of a Vibratory Plate Compactor Working on a Horizontal Elastic-Viscous-Plastic Surface

Korendiy

Kachur

2022

Lecture Notes in Mechanical Engineering

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A comparative study on the two vibration driven locomotion systems in various friction levels

Cited by 4 publications

References 29 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

Mathematical modeling of forced oscillations of semidefinite vibro-impact system sliding along rough horizontal surface

Dynamic Behavior of a Vibratory Plate Compactor Working on a Horizontal Elastic-Viscous-Plastic Surface

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