Speed and torque optimization of a crank-driven wheeled robot in non-impact and vibro-impact regimes
Year: 2026
Type: article
Abstract: A numerical design study compares a wheeled crank-driven robot in non-impact and compliant-impact operation under common drive-load constraints. Exact slider-crank kinematics, finite link inertia and a unilateral wheel constraint are retained in a coupled model. An energy balance bounds the attainable mean speed, while a constrained search adjusts internal mass, suspension stiffness and damping, crank radius, frequency and clearance. Six root-mean-square torque budgets define numerical approximations of the speed–torque trade-off. At a 0.20 N∙m budget, the best feasible solutions found achieve 0.4433 m/s without impacts and 0.5157 m/s with impacts, a 16.3 % increase. Their peak torques are 0.354 and 0.357 N∙m. However, positive shaft work per distance rises by 8.1 % in the impact solution. Thus, impacts improve attainable speed in the investigated domain without necessarily improving energy economy. The results are computational and conditional on stated contact, resistance and drive assumptions.
Source: Vibroengineering PROCEDIA
Institution: Lviv Polytechnic National University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W7225095840