A Multifunction Robot Based on the Slider-Crank Mechanism: Dynamics and Optimal Configuration for Energy Harvesting

(1) * Arnaud Notué Kadjie Mail (University of Dschang, Cameroon)
(2) E. B. Tchawou Tchuisseu Mail (Institute of Thermomechanics of the Czech Academy of Sciences, Czech Republic)
*corresponding author

Abstract


An electromechanical robot based on the modified slider-crank mechanism with a damped spring hung at its plate terminal is investigated. The robot is first used for actuation operation and for energy harvesting purposes thereafter. Mathematical modeling in both cases is proposed. As an actuator, the robot is powered with a DC motor, and the effect of the voltage supply on the whole system dynamics is found out. From the numerical simulation based on the fourth-order Runge-Kutta algorithm, results show various dynamics of the subsystems, including periodicity, multi-periodicity, and chaos as depicted by the bifurcation diagrams. Applications can be found in industrial processes like sieving, shaking, cutting, pushing, crushing, or grinding. Regarding the case of the robot functioning as an energy harvester, two different configurations of the electrical circuit for both single and double loops are set up. The challenge is to determine the best configuration for the high performance of the harvester. It comes from theoretical predictions and experimental data that the efficiency of the robot depends on the range values of the electrical load resistance RL. The double loop circuit is preferable for the low values of RL<50 Ohm) while the single loop is convenient for high values of RL ≥ 50 Ohm.

Keywords


Slider-Crank Mechanism; Chaos; Robot; Energy Harvesting

   

DOI

https://doi.org/10.31763/ijrcs.v1i3.408
      

Article metrics

10.31763/ijrcs.v1i3.408 Abstract views : 2970 | PDF views : 654

   

Cite

   

Full Text

Download

References


[1] R. F. Fung and C. F. Chang, “Force/motion sliding mode control of three typical mechanisms,” Asian Journal of control, vol. 11, pp. 196-210, March 2009. https://doi.org/10.1002/asjc.96

[2] R. F. Fung, Lin FJ, J. S. Huang and Y. C. Wang, “Application of the sliding mode control with a low pass filter to the constantly rotating slider-crank mechanism,” Jpn Soc Mech Eng, Ser C, vol. 40, n°4, pp. 717-722, 1997. https://doi.org/10.1299/jsmec.40.717

[3] D. Belato, H.I. Weber, J.M. Balthazar, D.T. Mook, “Chaotic vibrations of a nonideal electro-mechanical system,” Int Journal of Solids and Structures, vol. 38, pp.1699-1706, 2001. https://doi.org/10.1016/S0020-7683(00)00130-X

[4] D. O Tcheutchoua Fossi and P. Woafo, “Dynamical behaviors of a plate activated by an induction motor,” Journal of Sound and Vibration, vol. 329, pp. 3507-3519, 2010. https://doi.org/10.1016/j.jsv.2010.03.017

[5] J. L. Ha, R. F. Fung, K. Y. Chen and S. C. Hsien, “Dynamic modeling and identification of a slider-crank mechanism,” Journal of Sound and Vibration, vol. 289, pp. 1019-1044, 2006. https://doi.org/10.1016/j.jsv.2005.03.011

[6] R. F. Fung, C. L. Chiang and S. J. Chen, “Dynamic modelling of an intermittent slider-crank mechanism,” Applied Mathematical Modelling, vol. 33, pp. 2411-2420, 2009. https://doi.org/10.1016/j.apm.2008.07.004

[7] I. Khemili and L. Romdhane, “Dymanic analysis of a flexible slider-crank mechanism with clearance,” European Journal of Mchanics A/Solids, vol. 27, pp. 882-898, 2009. https://doi.org/10.1016/j.euromechsol.2007.12.004

[8] R. F. Fung, “Dynamic responses of the flexible connecting rod of a slider-crank mechanism with time-dependent boundary effect”. Computers and Structures, Vol. 63, n° 1, pp. 79-90, 1997. https://doi.org/10.1016/S0045-7949(96)00333-1

[9] S. R. Hsieh and S. W. Shaw, “The dynamic stability and nonlinear resonance of a flexible connecting rod: continuous parameter model,” Nonliear Dynamics, vol. 4, pp. 573-603, 1993. http://dx.doi.org/10.1007/BF00162233

[10] S. Roundy, P. K. Wright and J. Rabaey, “A study of low level vibrations as a power source for wireless sensor nodes,” Comput. Commun, vol. 26, pp. 1131–1144, 2003. https://doi.org/10.1016/S0140-3664(02)00248-7

[11] P.D. Mitcheson, T.C. Green, E.M. Yeatman and A.S. Holmes, “Architectures for vibration-driven micro power generators,” J.Microelectromech. Syst., vol. 13, pp. 429–440, 2004. https://doi.org/10.1109/JMEMS.2004.830151

[12] T. V. Buren and G. Troster, “Design and optimization of a linear vibration-driven electromagnetic micro-power generator,” Sensors and Actuators A, vol. 135, pp. 765–775, 2007. https://doi.org/10.1016/j.sna.2006.08.009

[13] S. Kulkarni, E. Koukharenko, R. Torah and J. Tudor, “Design, fabrication and test of integrated macro-scale vibration-based electromagnetic generator,” Sensors and Actuators A Physical, vol.145, pp. 336–342, 2007. https://doi.org/10.1016/j.sna.2007.09.014

[14] B. P. Mann and B. A. Owens, “Investigations of a nonlinear energy harvester with a bistable potential well,” Journal of Sound and Vibration, vol. 329, pp. 1215-1226, 2010. https://doi.org/10.1016/j.jsv.2009.11.034

[15] G.T. Oumbe Tekam, E. B. Tchawou Tchuisseu, C.A. Kitio Kwuimy and P. Woafo, “Analysis of an electromechanical energy harvester system with geometric and ferroresonant nonlinearities,” Nonlinear Dynamics, vol. 76, pp. 1561-1568, January 2014, https://doi.org/10.1007/s11071-013-1228-6

[16] A. Notue Kadjie, I. Kemajou and P. Woafo, “Control of an electromechanical pendulum subjected to impulse disturbances using the Melnikov theory approach,” Journal of Mechanical Science and Technology, vol. 32, pp. 865-874, February 2018. https://doi.org/10.1007/s12206-018-0137-x

[17] R. T. Fotsa, A. R. Tchamda, A. S. K. Tsafack and S. T. Kingni, “Microcontroller Implementation, Chaos Control, Synchronization and Antisynchronization of Josephson Junction Model,” International Journal of Robotics and Control Systems, vol. 1, no. 2, pp. 198-208, June 2021. https://doi.org/10.31763/ijrcs.v1i2.354


Refbacks

  • There are currently no refbacks.


Copyright (c) 2021 Arnaud Kadjie Notué

Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

 


About the JournalJournal PoliciesAuthor Information

International Journal of Robotics and Control Systems
e-ISSN: 2775-2658
Website: https://pubs2.ascee.org/index.php/IJRCS
Email: ijrcs@ascee.org
Organized by: Association for Scientific Computing Electronics and Engineering (ASCEE)Peneliti Teknologi Teknik IndonesiaDepartment of Electrical Engineering, Universitas Ahmad Dahlan and Kuliah Teknik Elektro
Published by: Association for Scientific Computing Electronics and Engineering (ASCEE)
Office: Jalan Janti, Karangjambe 130B, Banguntapan, Bantul, Daerah Istimewa Yogyakarta, Indonesia