A Mobile Mathieu Oscillator Model for Vibrational Locomotion of a Bristlebot

Tallapragada, Phanindra; Gandra, Chandravamsi

doi:10.1115/1.4050561

Cited by 10 publications

(4 citation statements)

References 25 publications

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“…Taking into account the complexity of such transmissions, some researchers analyze the possibilities of implementing the passive locomotion principles based on vibration excitation. For example, the paper [11] considers the dynamic behavior of the small mobile vibration-driven robot equipped with the inertial (eccentric) exciter and flexible supporting bristles. In [12], the authors investigate the double-mass vibratory system of the in-pipe robot actuated by two inertial vibration exciters with a non-circular gear drive.…”

Section: Introductionmentioning

confidence: 99%

Mathematical modeling and computer simulation of the wheeled vibration-driven in-pipe robot motion

Korendiy¹,

Kotsiumbas²,

Borovets³

et al. 2022

Vib. proced.

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The in-pipe robots are currently of significant interest, considering numerous recent publications on this subject. Such machines can use various locomotion principles: wheeled, tracked (caterpillar), walking (legged), screw-type, worm-type, snake-type, etc. In most cases, such robots are equipped with an active drive system transmitting the torque from a motor shaft to the corresponding locomotion mechanism (wheels, tracks, etc.). The present paper is devoted to the wheeled in-pipe robot that doesn’t need a complex transmission. In such a case, the idea of implementing the vibratory locomotion system driven by an internal unbalanced mass is proposed. The corresponding kinematic diagram of the wheeled vibration-driven in-pipe robot is developed, and the differential equations describing the robot motion are deduced. In order to carry out the virtual experimental investigations, the robot’s simulation model is designed in the SolidWorks software. The major scientific novelty of the present research consists in developing the theoretical foundation for designing and practical implementation of the in-pipe robots driven by the inertial vibration exciters and equipped with the unidirectionally rotating wheels and overrunning clutches. The results of numerical modeling and computer simulation of the robot motion substantiate the possibilities and expediency of implementing the proposed vibration-driven locomotion principles while creating novel designs of the in-pipe robots.

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Section: Introductionmentioning

confidence: 99%

Mathematical modeling and computer simulation of the wheeled vibration-driven in-pipe robot motion

Korendiy¹,

Kotsiumbas²,

Borovets³

et al. 2022

Vib. proced.

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“…Frictional anisotropy is also used as a major locomotion principle in vibration robots, a type of bristle robot [11][12][13][14][15][16]. These robots operate by applying high-frequency vibrations, ranging from a minimum of 10 Hz [11] to several tens of kHz [16], in either the vertical or horizontal direction.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Analysis of the Locomotion Mechanism in Foxtail Robots: Frictional Anisotropy and Bristle Diversity

Lee,

Jeong,

Kim

et al. 2024

Biomimetics

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This study investigated the locomotion mechanism of foxtail robots, focusing on the frictional anisotropy of tilted bristles under the same friction coefficient and propulsion strategy using bristle diversity. Through dynamic analysis and simulations, we confirmed the frictional anisotropy of tilted bristles and elucidated the role of bristle diversity in generating propulsive force. The interaction between contact nonuniformity and frictional anisotropy was identified as the core principle enabling foxtail locomotion. Simulations of foxtail robots with multiple bristles demonstrated that variations in bristle length, angle, and deformation contribute to propulsive force generation and environmental adaptability. In addition, this study analyzed the influence of major design parameters on frictional anisotropy, highlighting the critical roles of body height, bristle length, stiffness, reference angle, and friction coefficient. The proposed guidelines for designing foxtail robots emphasize securing bristle nonuniformity and inducing contact nonuniformity. The simulation framework presented enables the quantitative prediction and optimization of foxtail robot performance. This research provides valuable insights into foxtail robot locomotion and lays a foundation for the development of efficient and adaptive next-generation robots for diverse environments.

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“…The research on the influence of bristles inclination angle on the robot’s motion conditions is conducted in Robles-Cuenca et al (2020) . An interesting design of a brush-type locomotion system equipped with a DC motor driving the unbalanced rotor is considered in Tallapragada and Gandra (2021) . Another direction of development of the bristle-type robots is focused on combining several independent robotic units (modules) into a single locomotion system.…”

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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A Mobile Mathieu Oscillator Model for Vibrational Locomotion of a Bristlebot

Cited by 10 publications

References 25 publications

Mathematical modeling and computer simulation of the wheeled vibration-driven in-pipe robot motion

Mathematical modeling and computer simulation of the wheeled vibration-driven in-pipe robot motion

Dynamic Analysis of the Locomotion Mechanism in Foxtail Robots: Frictional Anisotropy and Bristle Diversity

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

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