Analysis of worm-like locomotion driven by the sine-squared strain wave in a linear viscous medium

Jiang, Ziwang; Xu, Jian

doi:10.1016/j.mechrescom.2017.07.006

Cited by 12 publications

(7 citation statements)

References 14 publications

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“…In addition, another perspective of the work is the mathematical modelling of the capsule system with multiple modules, e.g. [ 13 , 30 , 31 ]. It is possible to further develop the capsule model studied in this paper to realize a more complex motion, such as a planar or a three-dimensional motion.…”

Section: Discussionmentioning

confidence: 99%

Proof-of-concept prototype development of the self-propelled capsule system for pipeline inspection

et al. 2017

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This paper studies the prototype development for the self-propelled capsule system which is driven by autogenous vibrations and impacts under external resistance forces. This project aims for proofof-concept of its locomotion in pipeline environment in order to mitigate the technical complexities and difficulties brought by current pressure-driven pipeline inspection technologies. Non-smooth multibody dynamics is applied to describe the motion of the capsule system, and two non-smooth nonlinearities, friction and impact, are considered in modelling. The prototype of the self-propelled capsule system driven by a push-type solenoid with a periodically excited rod has been designed to verify the modelling approach.The prototype contains a microcontroller, a power supply, and a wireless control module, which has been tested in a clear uPVC pipe via remote control. Various control parameters, e.g. impact stiffness, frequency and amplitude of excitation, are studied experimentally, and finally, the fastest progression of the system is obtained.

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Section: Discussionmentioning

confidence: 99%

Proof-of-concept prototype development of the self-propelled capsule system for pipeline inspection

et al. 2017

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“…In the following, the dynamic model and its reduced model, called the quasi-static model, will be introduced. To establish the relationship between worm-like locomotion and parameters such as the friction coefficient, linear density, wave width, and body length of the worm, a dynamic model of the locomotion [ 24 ] has been developed. This model, which describes one-dimensional motion of a worm along a straight line, is denoted by the following form

where

…”

Section: The Mathematical Description Of Worm-like Locomotionmentioning

confidence: 99%

“…Further, it is found that Equation (8) can be reduced to a quasi-static approximation for a large friction, a low linear density, a long body length or a small wave speed when the locomotion is driven by the sine-squared strain wave in [ 24 ]. Based on the same method, this result can be also obtained by using the drive mode of the square wave.…”

Section: The Mathematical Description Of Worm-like Locomotionmentioning

confidence: 99%

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The Optimal Locomotion of a Self-Propelled Worm Actuated by Two Square Waves

Jiang

2017

Micromachines

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Worm-like locomotion at small scales induced by propagating a series of extensive or contraction waves has exhibited enormous possibilities in reproducing artificial mobile soft robotics. However, the optimal relation between locomotion performance and some important parameters, such as the distance between two adjacent waves, wave width, and body length, is still not clear. To solve this problem, this paper studies the optimal problem of a worm’s motion induced by two peristalsis waves in a viscous medium. Inspired by a worm’s motion, we consider that its body consists of two segments which can perform the respective shape change. Next, a quasi-static model describing the worm-like locomotion is used to investigate the relationship between its average velocity over the period and these parameters. Through the analysis of the relationship among these parameters, we find that there exist four different cases which should be addressed. Correspondingly, the average velocity in each case can be approximately derived. After that, optimization is carried out on each case to maximize the average velocity according to the Kuhn–Tucker Conditions. As a result, the optimal conditions of all of the cases are obtained. Finally, numerical and experimental verifications are carried out to demonstrate the correctness of the obtained results.

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“…However, the fabrication, manipulation, system reliability, and cost of such complex devices are the main barriers of development. Our work addresses these issues by employing the so-called vibro-impact self-propulsion approach [15][16][17]. Its advantages over the locomotion solutions described above include the fact that all the components can be located inside the capsule and no external accessories are required.…”

Section: Introductionmentioning

confidence: 99%

Modelling of a vibro-impact self-propelled capsule in the small intestine

et al. 2019

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This paper studies the modelling of a vibroimpact self-propelled capsule system in the small intestinal tract. Our studies focus on understanding the dynamic characteristics of the capsule and its performance in terms of the average speed and energy efficiency under various system and control parameters, such as capsule's radius and length, and the frequency and magnitude of sinusoidal excitation. We find that the resistance from the small intestine will become larger once the capsule's size or its instantaneous velocity increases. From our extensive numerical calculations, it is suggested that increasing forcing magnitude or choosing forcing frequency greater than the natural frequency of the inner mass can benefit the average speed of the capsule, and the radius of the capsule should be slightly larger than the radius of the small intestine in order to generate a reasonable resistance for capsule progression. Finally, the locomotion of the capsule along an inclined intestinal tract is tested, and the best radius and forcing magnitude of the capsule are also determined.

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Analysis of worm-like locomotion driven by the sine-squared strain wave in a linear viscous medium

Cited by 12 publications

References 14 publications

Proof-of-concept prototype development of the self-propelled capsule system for pipeline inspection

Proof-of-concept prototype development of the self-propelled capsule system for pipeline inspection

The Optimal Locomotion of a Self-Propelled Worm Actuated by Two Square Waves

Modelling of a vibro-impact self-propelled capsule in the small intestine

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