Mathematical modeling and computer simulation of locomotion conditions of vibration-driven robots

Abstract

This paper investigates the dynamic behavior and locomotion characteristics of vibration-driven robots with wheeled chassis, focusing on the comparison of two types of vibration exciters: a solenoid-type actuator and a centrifugal (inertial) exciter. The research methodology involves 3D modeling using SolidWorks software to design the robots, numerical modeling in Mathematica software to simulate their motion and predict kinematic characteristics, and computer simulation in SolidWorks Motion software to validate the modeling results. The robots utilize overrunning clutches to ensure unidirectional wheel rotation and achieve forward motion through the principle of pure vibratory and vibro-impact locomotion. The influence of excitation frequency and operational parameters on the robot's speed, acceleration, and displacement is analyzed for both types of exciters. The results demonstrate the effectiveness of both solenoid and centrifugal exciters in achieving locomotion, with the centrifugal exciter generally providing lower speeds due to utilizing pure vibration excitation and the solenoid-type actuator offering larger speeds due to operating at vibro-impact conditions. The findings of this study are valuable for researchers and engineers working on the design and optimization of vibration-driven robots for various applications, including pipeline inspection, cleaning, and navigation in challenging environments.