Experimental investigation of kinematic characteristics of a wheeled vibration-driven robot

摘要

The presented research continues the authors’ previous investigations on the dynamics of a wheeled vibration-driven robot. The main purpose of this paper consists in conducting the experimental studies of the robot motion conditions. The methodology of research is divided into three basic stages: designing the 3D-model of the robot in the SolidWorks software and implementing its experimental prototype; experimental studying the motion conditions and carrying out the corresponding measurements; analyzing the obtained results and forming the conclusions. The main findings (results) are presented in the form of time response curves of the basic kinematic characteristics of the robot motion: displacements, velocities, and accelerations of the robot’s wheeled platform and of the disturbing (impact) body. The novelty of this research consists in substantiating the possibilities of applying the vibro-impact working regimes to improve the kinematic characteristics and operational efficiency of the wheeled vibration-driven robot. The obtained results can be profitably used by designers and researchers of mobile locomotion systems, particularly those for inspecting the pipelines.