Motion Mechanism and Test Study of Vibration-Driven Robot with External Fins

doi:10.12068/j.issn.1005-3026.2023.10.011

Journal of Northeastern University(Natural Science) ›› 2023, Vol. 44 ›› Issue (10): 1448-1454.DOI: 10.12068/j.issn.1005-3026.2023.10.011

• Mechanical Engineering • Previous Articles Next Articles

Motion Mechanism and Test Study of Vibration-Driven Robot with External Fins

GUO Yu-liang， GUO Rui， TANG Chen-wei， YAO Hong-liang

School of Mechanical Engineering & Automation， Northeastern University， Shenyang 110819， China.

Published:2023-10-27
Contact: YAO Hong-liang
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Abstract

Abstract: To satisfy the demand of vertical pipe inspection， a vibration-driven robot with external fins is designed and the motion mechanism is studied. Based on the structure of the robot， the non-smooth multibody dynamics model of the robot system is developed， and the two non-smooth nonlinearities， which are friction and impact， are considered. Numerical simulation analysis of the frequency and time domain response of the robot are carried out and the effects of different load quality parameters on the robot are studied. The robot prototype is developed， including microcontrollers， wireless control modules， etc. The robot is tested for vertical pipe crawling， and additional mass is added to the robot to verify the load capacity of the robot during the test. The test results verify the correctness of the numerical simulation results and the maximum upward crawling speed of the robot is 10.8mm/s.

Key words: vibration-driven; non-smooth system; vibration impact; vertical crawling; multibody dynamics

CLC Number:

TD451

GUO Yu-liang， GUO Rui， TANG Chen-wei， YAO Hong-liang. Motion Mechanism and Test Study of Vibration-Driven Robot with External Fins[J]. Journal of Northeastern University(Natural Science), 2023, 44(10): 1448-1454.

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Motion Mechanism and Test Study of Vibration-Driven Robot with External Fins

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