Top

Archive of Applied Mechanics

Published in:

29-01-2021 | Original

Bi-objective optimization for improving the locomotion performance of the vibration-driven robot

Authors: Binbin Diao, Xiaoxu Zhang, Hongbin Fang, Jian Xu

Published in: Archive of Applied Mechanics | Issue 5/2021

Activate our intelligent search to find suitable subject content or patents.

search-config

AI-assisted search

Off

Abstract

The average velocity and the backward velocity are two critical factors to evaluate the locomotion performance of a vibration-driven robot. These two factors are often antagonistic when the ground friction is isotropic and, consequently, lead to a bi-objective optimization. The goal of this paper is to give a practicable bi-objective optimization scheme for vibration-driven locomotion robots. To this end, a generalized dynamic model of the multi-module vibration-driven locomotion robot is built by assuming that the ground friction is isotropic Coulomb type and the driving force is ideal. The non-dominated sorting genetic algorithm II (NSGA-II) is then employed to construct the optimization scheme and then obtain the Pareto front. A numerical example with a two-module vibration-driven system is provided to demonstrate the necessity and effectiveness of applying the bi-objective optimization method. A robot prototype is further designed, and a series of experimental tests are carried out. By choosing the motors’ rotary speed and phase shift as optimization parameters, the average and backward velocities are extracted to check against the Pareto front. The consistency between the theoretical predictions and the experimental results shows the practicability of the proposed bi-objective optimization scheme. Therefore, the proposed optimization scheme will provide comprehensive guidance for system design and optimization in micro-locomotion robots.

previous article A fundamental solution for the harmonic vibration of asymmetrically laminated composite plates described by a higher-order theory of shear strains

next article Numerical simulations of solid particles dispersion during double-diffusive convection of a nanofluid in a cavity with a wavy source

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

inform now

Available only for authorised users

Chernous’ko, F.L.: Analysis and optimization of the motion of a body controlled by means of a movable internal mass. Pmm-J Appl Math Mech 70(6), 819–842 (2006). https://doi.org/10.1016/j.jappmathmech.2007.01.003CrossRef

Chernousko, F.L.: On the optimal motion of a body with an internal mass in a resistive medium. J Vib Control 14(1–2), 197–208 (2008). https://doi.org/10.1177/1077546307079398MathSciNetCrossRefMATH

Chernous’ko, F.L.: The optimal periodic motions of a two-mass system in a resistant medium. Pmm-J Appl Math Mech 72(2), 116–125 (2008). https://doi.org/10.1016/j.jappmathmech.2008.04.014CrossRef

Fang, H.B., Xu, J.: Dynamic analysis and optimization of a three-phase control mode of a mobile system with an internal mass. J. Vib. Control 17(1), 19–26 (2011). https://doi.org/10.1177/1077546309345631MathSciNetCrossRefMATH

Zimmermann, K., Zeidis, I., Pivovarov, M., Abaza, K.: Forced nonlinear oscillator with nonsymmetric dry friction. Arch. Appl. Mech. 77(5), 353–362 (2007). https://doi.org/10.1007/s00419-006-0072-2CrossRefMATH

Zimmermann, K., Zeidis, I., Pivovarov, M., Behn, C.: Motion of two interconnected mass points under action of non-symmetric viscous friction. Arch. Appl. Mech. 80(11), 1317–1328 (2010). https://doi.org/10.1007/s00419-009-0373-3CrossRefMATH

Fang, H.B., Xu, J.: Controlled motion of a two-module vibration-driven system induced by internal acceleration-controlled masses. Arch. Appl. Mech. 82(4), 461–477 (2012). https://doi.org/10.1007/s00419-011-0567-3CrossRefMATH

Zimmermann, K., Zeidis, I., Pivovarov, M.: Motion of a chain of three point masses on a rough plane under kinematical constraints: modeling, simulation and control of nonlinear engineering dynamical systems: state-of-the-art, perspectives and applications. Springer, Dordrecht. (2009). https://doi.org/10.1007/978-1-4020-8778-3_6CrossRefMATH

Fang, H.B., Xu, J.: Dynamics of a three-module vibration-driven system with non-symmetric Coulomb’s dry friction. Multibody Sys.Dyn. 27(4), 455–485 (2012). https://doi.org/10.1007/s11044-012-9304-0MathSciNetCrossRefMATH

10.

Bolotnik, N.N., Zeidis, I.M., Zimmermann, K., Yatsun, S.F.: Dynamics of controlled motion of vibration-driven systems. J Comput Syst Sci Int 45(5), 831–840 (2006). https://doi.org/10.1134/s1064230706050145CrossRefMATH

11.

Sobolev, N.A., Sorokin, K.S.: Experimental investigation of a model of a vibration-driven robot with rotating masses. J Comput Syst Sci Int 46(5), 826–835 (2007). https://doi.org/10.1134/s1064230707050140CrossRefMATH

12.

Chen Q, Xu J, Zhan X, Ieee (2015) A three-phase vibration-driven system’s locomotion on an isotropic rough surface. In: IEEE international conference on robotics and biomimetics. IEEE, New York

13.

Chen, Q., Xu, J.: Locomotion of two vibration-driven modules connected by a mechanical position limiter. Int. J. Mech. Sci. 137, 252–262 (2018). https://doi.org/10.1016/j.ijmecsci.2018.01.027CrossRef

14.

Zimmermann, K., Zeidis, I., Bolotnik, N., Pivovarov, M.: Dynamics of a two-module vibration-driven system moving along a rough horizontal plane. Multibody Sys.Dyn. 22(2), 199–219 (2009). https://doi.org/10.1007/s11044-009-9158-2MathSciNetCrossRefMATH

15.

Yan, Y., Liu, Y., Liao, M.L.: A comparative study of the vibro-impact capsule systems with one-sided and two-sided constraints. Nonlinear Dyn. 89(2), 1063–1087 (2017). https://doi.org/10.1007/s11071-017-3500-7CrossRef

16.

Yan, Y., Liu, Y., Manfredi, L., Prasad, S.: Modelling of a vibro-impact self-propelled capsule in the small intestine. Nonlinear Dyn. 96(1), 123–144 (2019). https://doi.org/10.1007/s11071-019-04779-zCrossRef

17.

Yan, Y., Liu, Y., Jiang, H., Peng, Z., Crawford, A., Williamson, J., Thomson, J., Kerins, G., Yusupov, A., Islam, S.: Optimization and experimental verification of the vibro-impact capsule system in fluid pipeline. Proc Inst Mech Eng Part C-J Mech Eng Sci 233(3), 880–894 (2019). https://doi.org/10.1177/0954406218766200CrossRef

18.

Yan, Y., Liu, Y., Chavez, J.P., Zonta, F., Yusupov, A.: Proof-of-concept prototype development of the self-propelled capsule system for pipeline inspection. Meccanica 53(8), 1997–2012 (2018). https://doi.org/10.1007/s11012-017-0801-3MathSciNetCrossRef

19.

Zhan, X., Xu, J.: Locomotion analysis of a vibration-driven system with three acceleration-controlled internal masses. Adv Mech Eng 7(3), 12 (2015). https://doi.org/10.1177/1687814015573766CrossRef

20.

Zhan, X., Xu, J., Fang, H.B.: Planar locomotion of a vibration-driven system with two internal masses. Appl Math Model 40(2), 871–885 (2016). https://doi.org/10.1016/j.apm.2015.06.016MathSciNetCrossRefMATH

21.

Zhan, X., Xu, J., Fang, H.B.: A vibration-driven planar locomotion robot-Shell. Robotica 36(9), 1402–1420 (2018). https://doi.org/10.1017/s0263574718000383CrossRef

22.

Chernousko, F.: Two-dimensional motions of a body containing internal moving masses. Meccanica 51(12), 3203–3209 (2016). https://doi.org/10.1007/s11012-016-0511-2MathSciNetCrossRef

23.

Chernousko, F.L.: Motion of a body along a plane under the influence of movable internal masses. Dokl. Phys. 61(10), 494–498 (2016). https://doi.org/10.1134/s1028335816100013CrossRef

24.

Chernousko, F.: Optimal two-dimensional motions of a body controlled by a moving internal mass. Multibody Sys.Dyn. 46(4), 381–398 (2019). https://doi.org/10.1007/s11044-019-09676-2MathSciNetCrossRefMATH

25.

Chernousko, F.L.: Two- and three-dimensional motions of a body controlled by an internal movable mass. Nonlinear Dyn. 99(1), 793–802 (2020). https://doi.org/10.1007/s11071-019-05026-1CrossRefMATH

26.

Fang, H.B., Xu, J.: Dynamics of a mobile system with an internal acceleration-controlled mass in a resistive medium. J Sound Vibr 330(16), 4002–4018 (2011). https://doi.org/10.1016/j.jsv.2011.03.010CrossRef

27.

Fang, H.B., Xu, J.: Stick-slip effect in a vibration-driven system with dry friction: sliding bifurcations and optimization. J Appl Mech-Trans ASME 81(5), 10 (2014). https://doi.org/10.1115/1.4025747CrossRef

28.

Deb, K., Pratap, A., Agarwal, S., Meyarivan, T.: A fast and elitist multiobjective genetic algorithm: NSGA-II. IEEE Trans. Evol. Comput. 6(2), 182–197 (2002). https://doi.org/10.1109/4235.996017CrossRef

29.

Ahmadi, M.H., Hosseinzade, H., Sayyaadi, H., Mohammadi, A.H., Kimiaghalam, F.: Application of the multi-objective optimization method for designing a powered Stirling heat engine: Design with maximized power, thermal efficiency and minimized pressure loss. Renew Energy 60, 313–322 (2013). https://doi.org/10.1016/j.renene.2013.05.005CrossRef

30.

Ahmadi, M.H., Ahmadi, M.A., Mohammadi, A.H., Mehrpooya, M., Feidt, M.: Thermodynamic optimization of Stirling heat pump based on multiple criteria. Energy Conv Manag 80, 319–328 (2014). https://doi.org/10.1016/j.enconman.2014.01.031CrossRef

31.

Ahmadi, M.H., Ahmadi, M.A., Feidt, M.: Performance optimization of a solar-driven multi-step irreversible Brayton cycle based on a multi-objective genetic algorithm. Oil Gas Sci Technol 71(1), 14 (2016). https://doi.org/10.2516/ogst/2014028CrossRef

32.

Deb, K., Gupta, S.: Understanding knee points in bicriteria problems and their implications as preferred solution principles. Engineering Optimization 43(11), 1175–1204 (2011). https://doi.org/10.1080/0305215x.2010.548863MathSciNetCrossRef

33.

Ramirez-Atencia C, Mostaghim S, Camacho D, Acm (2017) A knee point based evolutionary multi-objective optimization for mission planning problems. In: Proceedings of the 2017 genetic and evolutionary computation conference. Assoc Computing Machinery, New York. https://doi.org/10.1145/3071178.3071319

34.

Zou, J., Li, Q.Y., Yang, S.X., Bai, H., Zheng, J.H.: A prediction strategy based on center points and knee points for evolutionary dynamic multi-objective optimization. Appl. Soft Comput. 61, 806–818 (2017). https://doi.org/10.1016/j.asoc.2017.08.004CrossRef

Title: Bi-objective optimization for improving the locomotion performance of the vibration-driven robot
Authors: Binbin Diao
Xiaoxu Zhang
Hongbin Fang
Jian Xu
Publication date: 29-01-2021
Publisher: Springer Berlin Heidelberg
Published in: Archive of Applied Mechanics / Issue 5/2021
Print ISSN: 0939-1533
Electronic ISSN: 1432-0681
DOI: https://doi.org/10.1007/s00419-020-01870-5

Springer Professional

Abstract

Please log in to get access to your license.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

Other articles of this Issue 5/2021

Experimental and numerical investigation of wing–wing interaction and its effect on aerodynamic force of a robotic dragonfly during hovering and forward flight

The analysis and design of nonlinear vibration isolators under both displacement and force excitations

A Galerkin approach to analyze MHD flow of nanofluid along converging/diverging channels

Analytical solutions of the simple shear problem for micromorphic models and other generalized continua

Influence of contact interface friction of bolted disk joint on motion stability of rotor-bearing system

Torsion of a flexoelectric semiconductor rod with a rectangular cross section

Premium Partners