Investigation of vibroimpact regimes of motion of a mobile microrobot with electromagnetic drive

Grankin, A. N.; Yatsun, S. F.

doi:10.1134/s1064230709010158

Cited by 11 publications

(3 citation statements)

References 5 publications

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“…The detailed investigations of various types of vibratory robots are presented in the works [4][5][6][7][8]. Each design of vibratory robot was described by the corresponding mathematical model taking into account different characteristics of elastic elements (linear, piecewise linear, nonlinear) and of the electromagnet drive (single-cycle, double-cycle).…”

Section: Review Of Modern Information Sources On the Subject Of The Pmentioning

confidence: 99%

Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

Korendiy¹

2018

Ukr. j. mech. eng. mater. sci.

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The purpose of research. Substantiation of inertial, stiffness and excitation parameters of mechanical oscillatory system of mobile vibratory robot in order to maximize its motion speed. Methodology. The technique of the research is based on fundamental concepts of engineering mechanics and theory of mechanical vibrations. In order to deduce the differential equations of motion of the mechanical system of mobile vibratory robot the Lagrange second order equations were used. The computation modelling of the system's motion caused by periodic excitation forces was carried out using MathCAD software. Results. The design diagram (model) of the two-mass mobile vibratory system with electromagnetic drive was constructed. The mathematical model of its motion was developed and the parameters of the resonance vibro-impact mode of its operation were substantiated. The steady-state and transient conditions of operation of the system under the influence of periodic excitation force of various magnitude were investigated. Scientific novelty. The structure of mobile vibratory device designed on the basis of two-mass oscillatory system with vibro-impact operation mode was substantiated. The differential equations of motion of the proposed system were set up taking into account the nonlinear stiffness characteristic of the elastic element connecting two oscillating bodies. The influence of the system's excitation parameters on its motion speed was analysed. This allows to substantiate the rational magnitude and frequency of the excitation force. Practical value. The results of the carried-out investigations can be used while designing and developing control systems of mobile vibratory transporting and robotic devices in order to ensure the possibility of changing the speed of their motion without changing the inertial and stiffness parameters of their mechanical oscillating systems. Scopes of further investigations. While carrying out further investigations it is necessary to study the possibility of changing the nonlinearity of stiffness characteristic of the elastic element in order to change the kinematic parameters of the system's motion. In addition, it is necessary to substantiate the mechanisms of changing the direction of motion of mobile vibratory robot.

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Section: Review Of Modern Information Sources On the Subject Of The Pmentioning

confidence: 99%

Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

Korendiy¹

2018

Ukr. j. mech. eng. mater. sci.

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“…This principle was first time proposed and analyzed by Pavlovskaia et al [15]. Many studies have been made, using various types of the actuators, such as using a solenoid driven by an RLC circuit [16,17], electromagnetic device [18,19], linear motors [20], electro-dynamic shaker [21,22]. The expected direction of the system motion can be obtained by applying a position feedback controller [23] or reversing the impact side [24].…”

Section: Introductionmentioning

confidence: 99%

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

Nguyen

2021

Vietnam J. Mech.

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This paper presented comparison results of two locomotion models: a pure-vibration driven and a vibro-impact driven system. In experiments, the friction force can be varied without changing the internal and the body masses. The mathematical models of the two systems were developed and experimentally verified. Using dimensionless models, the results can be expanded to other sizes in practice. The two models were compared in the following aspects: the progression rate, the motion direction and the dynamics response. The effect of friction as an important variable on the dynamic response of the two scaled models were examined and compared by means of bifurcation analysis and basin of attraction. It has been found that, the pure-vibration can provide forward motion better than the vibro-impact does. The highest progression rate of the vibro-impact was less than that of the pure-vibration system in the investigated ranges of input parameters. Besides, the pure-vibration always has period-1 motion, whereas the vibro-impact system has a rich and complex dynamic response, including period-1, period-2 as well as chaotic motions. The results obtained would be useful for design and operating the self-propelled locomotion systems.

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“…Paper [7] is devoted to the study of motion of worm-like robot; the work [8] describes the parallel-link robot with flexible structure. Papers [9,10] present the results of numerical simulations in-pipe robot based on the vibration principle of movement. All of the above robots are used for inspection of pipelines.…”

Section: Introductionmentioning

confidence: 99%

Trajectory generation for a walking in-pipe robot moving through spatially curved pipes

2017

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Abstract. In this paper, a walking in-pipe robot is studied. The robot has six legs, each consisting of 3 links connected via rotary joints. The legs are attached to the robot's body. The work is focused on the problem of generating desired position and orientation for the robot's body, using a given footstep sequence. An iterative geometric algorithm for generating orientation sequence is proposed. The problem of finding the desired position of the center of mass of the robot's body is formulated as a problem of minimizing stretching of the robot's legs during steps. Also, an analytical solution for inverse kinematics problem has been given. All proposed algorithms do not require extensive calculation and use basic algebraic operations.

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Investigation of vibroimpact regimes of motion of a mobile microrobot with electromagnetic drive

Cited by 11 publications

References 5 publications

Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

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

Trajectory generation for a walking in-pipe robot moving through spatially curved pipes

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