Self - Propelled Robotic System with a Visco - Elastic Joint: Dynamics and Motion Analysis

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Author
Liu, Pengcheng
Huda, M. Nazmul
Tang, Zhichuan
Sun, Li
Date
2019-02-26Acceptance date
2019-02-11
Date Deposited
2019-02-14
Type
Article
acceptedVersion
Publisher
Springer Verlag
ISSN
0177-0667
1435-5663 (online)
Metadata
Show full item recordAbstract
This paper studies the dynamics and motion generation of a self
-
propelled robotic
system with a visco
-
elastic joint. The system is underactuated,
legless and wheelless, and has
potential applications in environmental inspection and operation in restricted space which are
inaccessible to human beings, such as pipeline inspection, medical assistance and disaster
rescues. Locomotion of the system relie
s on the stick
-
slip effects, which interacts with the
frictional force at the surface in contact. The nonlinear robotic model utilizes combined
tangential
-
wise and normal
-
wise vibrations for underactuated locomotion, which features a
generic significance f
or the studies on self
-
propelled systems. To identify the characteristics
of the visco
-
elastic joint and shed light on the energy efficacy, parameter dependences on
stiffness and damping coefficients are thoroughly analysed. Our studies demonstrate that
dy
namic behaviour of the self
-
propelled system is mainly periodic and desirable forward
motion is achieved via identification of the variation laws of the control parameters and
elaborate selection of the stiffness and damping coefficients. A motion generati
on strategy is
developed, and an analytical two
-
stage motion profile is proposed based on the system
response and dynamic constraint analysis, followed by a parameterization procedure to
optimally generate the trajectory. The proposed method provides a nov
el approach in
generating self
-
propelled locomotion, and designing and computing the visco
-
elastic
parameters for energy efficacy. Simulation results are presented to demonstrate the
effectiveness and feasibility of the proposed model and motion generation
approach.
Journal/conference proceeding
Engineering with Computers;
Citation
Liu, P., Huda, M.N., Tang, Z. and Sun, L. (2019) 'A self-propelled robotic system with a visco-elastic joint: dynamics and motion analysis', Engineering with Computers, doi: 10.1007/s00366-019-00722-3
Description
Article published in Engineering with Computers available at https://doi.org/10.1007/s00366-019-00722-3
Sponsorship
Cardiff Metropolitan University (Grant ID: Cardiff Metropolian (Internal))
This research was supported in part by the National Natural Science Foundation of China project (No. 61803396 and No. 61702454), and by the MOE (Ministry of Education in China) Project of Humanities and Social Sciences (No. 17YJC870018)
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