Analyzing the Locomotion Conditions of a Wheeled Vibration-Driven System with a V-Shaped Suspension

Wheeled vibration-driven platforms have taken a prominent place among mobile robotic systems. Numerous investigations are dedicated to developing novel designs and analyzing mobile vibratory robot's dynamic behavior and performance. The present paper is dedicated to the locomotion conditions of a wheeled platform equipped with the V-shaped spring-damper suspension and driven by the centrifugal vibration exciter (unbalanced rotor). This research methodology contains mathematical and numerical modeling, computer simulation, and full-scale experimental investigations on the dynamic behavior of the semi-definite single-mass vibration-driven system at the specified design parameters and excitation conditions. The obtained results present the time dependencies of the system’s motion trajectory, horizontal and vertical velocities, and accelerations. The main scientific novelty of the performed investigations is the development of the generalized mathematical model that describes the locomotion conditions of the wheeled vibration-driven system for the specified design parameters of a V-shaped spring-damper suspension. The results of this research can be practically implemented while defining the optimal geometrical, inertial, damping, and excitation parameters of suspensions of various mobile vibration-driven locomotion systems, particularly those intended for cleaning and inspecting the internal surfaces of pipelines, tubes, and vessels.