A Miniature Mobile Robot Using Piezo Vibration for Mobility in a Thin Tube

1993 ◽  
Vol 115 (2A) ◽  
pp. 270-278 ◽  
Author(s):  
Shin-ichi Aoshima ◽  
Takeshi Tsujimura ◽  
Tetsuro Yabuta
Keyword(s):  
Mobile Robot ◽  
Vibration Analysis ◽  
Tube Wall ◽  
Robot Motion ◽  
Hamilton’S Principle ◽  
Tractive Force ◽  
Hamilton's Principle ◽  
Thin Tube ◽  
Theoretical Results

This paper proposes a miniature mobile robot that uses piezo vibration to move within a thin tube. The robot consists of a piezo bimorph with elastic fins attached at an angle. Robot movement is driven by differences in the friction of the fin’s against the tube wall between the forward and backward fin movements induced by piezo vibration. After analyzing the dynamics of the piezo elements, we analyzed the robot’s mobile mechanism by extending Hamilton’s principle using the dynamic results of the piezo vibration analysis. Measurements of both mobile velocity and tractive force of an experimental robot agree closely with theoretical results. This indicates that the proposed dynamic mobile mechanism accurately expresses robot motion within a thin tube.

scholarly journals Buckling of a Short Cylindrical Shell Surrounded by an Elastic Medium

1999 ◽  
Vol 67 (1) ◽  
pp. 212-214 ◽  
Author(s):  
S. Naili ◽  
C. Oddou
Keyword(s):  
Tube Wall ◽  
Surrounding Medium ◽  
External Pressure ◽  
Elastic Tube ◽  
Geometrical Parameters ◽  
Buckling Mode ◽  
Uniform External Pressure ◽  
Cylindrical Structure ◽  
Thin Tube ◽  
Theoretical Results

The lateral surface of a cylindrical structure, which is composed of a thin tube embedded in a large outer medium, is submitted to a uniform external pressure. The buckling pressure of such a structure, corresponding to a low flexural state of the inner tube wall, is theoretically analyzed on the basis of the asymptotic method. The theoretical results are compared with experimental ones obtained from a compression test realized on an elastic tube inserted in a foam. It is found that the Euler pressure and the associated buckling mode index strongly depend upon the rheological and geometrical parameters of both the tube and the surrounding medium. [S0021-8936(00)00201-4]

Constraint-following servo control for an underactuated mobile robot under hard constraints

2021 ◽  
pp. 095965182110248
Author(s):  
Duo Fu ◽  
Jin Huang ◽  
Wen-Bin Shangguan ◽  
Hui Yin
Keyword(s):  
Mobile Robot ◽  
Control Problem ◽  
Servo Control ◽  
Robot Motion ◽  
Soft Constraints ◽  
Rigorous Proof ◽  
Control Approach ◽  
Hard Constraints

This article formulates the control problem of underactuated mobile robot as servo constraint-following, and develops a novel constraint-following servo control approach for underactuated mobile robot under both servo soft and hard constraints. Servo soft constraints are expressed as equalities, which may be holonomic or non-holonomic. Servo hard constraints are expressed as inequalities. It is required that the underactuated mobile robot motion eventually converges to servo soft constraints, and satisfies servo hard constraints at all times. Diffeomorphism is employed to incorporate hard constraints into soft constraints, yielding new soft constraints to relax hard constraints. By this, we design a constraint-following servo control based on the new servo soft constraints, which drives the system to strictly follow the original servo soft and hard constraints. The effectiveness of the proposed approach is proved by rigorous proof and simulations.

scholarly journals A Human Aware Mobile Robot Motion Planner

2007 ◽  
Vol 23 (5) ◽  
pp. 874-883 ◽  
Author(s):  
E.A. Sisbot ◽  
L.F. Marin-Urias ◽  
R. Alami ◽  
T. Simeon
Keyword(s):  
Mobile Robot ◽  
Robot Motion
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