不平衡转子驱动轮式管道机器人运动特性的仿真与实验研究

V. Korendiy, O. Kachur, V. Gurey, Rostyslav Predko, R. Palash, O. Havrylchenko
{"title":"不平衡转子驱动轮式管道机器人运动特性的仿真与实验研究","authors":"V. Korendiy, O. Kachur, V. Gurey, Rostyslav Predko, R. Palash, O. Havrylchenko","doi":"10.21595/vp.2022.22971","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":221830,"journal":{"name":"59th International Conference on Vibroengineering in Dubai, United Arab Emirates, October 22, 2022","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-10-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Simulation and experimental investigation of kinematic characteristics of the wheeled in-pipe robot actuated by the unbalanced rotor\",\"authors\":\"V. Korendiy, O. Kachur, V. Gurey, Rostyslav Predko, R. Palash, O. Havrylchenko\",\"doi\":\"10.21595/vp.2022.22971\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":221830,\"journal\":{\"name\":\"59th International Conference on Vibroengineering in Dubai, United Arab Emirates, October 22, 2022\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-10-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"59th International Conference on Vibroengineering in Dubai, United Arab Emirates, October 22, 2022\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.21595/vp.2022.22971\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"59th International Conference on Vibroengineering in Dubai, United Arab Emirates, October 22, 2022","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.21595/vp.2022.22971","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2

摘要

由于可能的应用范围广泛,移动机器人系统目前引起了人们的极大兴趣。在种类繁多的移动机器人中,轮式机器人受到了特别的关注。本研究的主要目的在于验证安装单向旋转轮的振动驱动机器人改进的可能性。本研究的方法包括在SolidWorks软件中开发机器人的3d模型,构建机器人振动系统的简化动态图,并在MapleSim软件中开发其仿真模型。通过在MapleSim软件中对运动方程进行数值求解,在SolidWorks软件中对机器人运动条件进行模拟,并进行实验,得出了研究结果。研究结果揭示了机器人在不同工况下运动的主要运动学特征。本文的主要科学新颖之处在于对离心(惯性)激振器驱动的轮式机器人进行了改进设计,并证实了其工作特性。所获得的结果可以有效地用于创建移动机器人系统的生产原型,特别是用于清洁管道和监测(检查)其内表面、焊缝、接头、联轴器等。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Simulation and experimental investigation of kinematic characteristics of the wheeled in-pipe robot actuated by the unbalanced rotor
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.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信