Mobile crawler robot vibration analysis in the contexts of motion speed selection

Abstract

The article presents the methodology of body vibration analysis of an inspection robot with the use of flexible connection between the body and the track propulsion modules. The article presents the methodology of selection of motion parameters of an inspection robot, taking into account the vibration of the robot body. The speed of movement of the robot affects the frequency of contact track claws with the ground, which is related to the frequency of vibration excitation. Robot motion parameters are chosen in such a way so as not to over-stimulate the natural frequency of the system. Due to the vibration reduction, it was possible to install a visual system based on an Ethernet video camera without a stabilizer in the body of the robot. Such an approach enables mass production of robots without active suppression systems and video stabilizers which generate high production costs, increase weight of robots and energy consumption.