Bifurcation Analysis of Stick-Slip Motion of the Vibration-Driven System with Dry Friction

Jiang, Ziwang

doi:10.1155/2018/2305187

Cited by 7 publications

(4 citation statements)

References 21 publications

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“…In [3], the authors studied the influence of the excitation conditions frequency and duration of the pulse-width signal) on the average translational speed of the vibration-driven capsule-type robot. 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.…”

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.

show abstract

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

“…In the paper [2], the authors investigated the average translational velocity of the capsule-type vibration-driven robot under different excitation conditions (the period and the pulse duration of the pulse-width excitation signal). 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.…”

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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“…The third case is comprehensively studied in the papers [9,10], where the authors studied the influence of the excitation conditions (the frequency and duration of the pulse-width signal) on the average translational speed of the vibration-driven capsule-type robot. The bifurcation analysis of the stick-clip locomotion of a similar vibration-driven system is studied in [11], taking into account different dry friction conditions. In [12,13], the authors considered the possibilities of optimizing the control algorithms of the vibration-driven robots in order to maximize their translational speed and minimize the power consumption.…”

Section: Introductionmentioning

confidence: 99%

Dynamics of mobile robot equipped with inertial vibration exciter and unidirectionally rotating wheels

Korendiy

Kachur

Gursky

2023

IOP Conf. Ser.: Mater. Sci. Eng.

View full text Add to dashboard Cite

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 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 modelling 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 the vibration-driven robots, capsule-type locomotion systems, pipelines inspecting vehicles, etc.

show abstract

Bifurcation Analysis of Stick-Slip Motion of the Vibration-Driven System with Dry Friction

Cited by 7 publications

References 21 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

Dynamics of mobile robot equipped with inertial vibration exciter and unidirectionally rotating wheels

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