Citation: Korendiy, V.; Kachur, O.; Gurskyi, V.; Krot, P. Studying the Influence of the Impact Gap Value on the Average Translational Speed of the Wheeled Vibration-Driven Robot. Eng. Proc. 2022, 24, 25. https:// doi.org/10.3390/IECMA2022-12897 Academic Editor: Antonio J. Marques Cardoso Published: 15 September 2022 Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affil- iations. Copyright: © 2022 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https:// creativecommons.org/licenses/by/ 4.0/). Proceeding Paper Studying the Influence of the Impact Gap Value on the Average Translational Speed of the Wheeled Vibration-Driven Robot † Vitaliy Korendiy 1, * , Oleksandr Kachur 1 , Volodymyr Gurskyi 1 and Pavlo Krot 2 1 Department of Robotics and Integrated Mechanical Engineering Technologies, Lviv Polytechnic National University, 12S. Bandera Street, 79013 Lviv, Ukraine 2 Faculty of Geoengineering, Mining and Geology, Wroclaw University of Science and Technology, 27 Wybrze ˙ ze Wyspia ´ nskiego Street, 50-370 Wroclaw, Poland * Correspondence: vitalii.m.korendii@lpnu.ua † Presented at the 1st International Electronic Conference on Machines and Applications, 15–30 September 2022; Available online: https://iecma2022.sciforum.net. Abstract: The general design of the wheeled vibration-driven robot is developed in the SolidWorks software (Dassault Systèmes SolidWorks Corporation, Premium 2022, Waltham, MA, USA) on the basis of a double-mass semidefinite oscillatory system. The idea of implementing the vibro-impact working regimes of the internal (disturbing) body is considered. The corresponding mathematical model describing the robot motion conditions is derived using Euler-Lagrange equations. The numerical modeling is carried out by solving the obtained system of differential equations with the help of the Runge-Kutta methods in the Mathematica software (Wolfram Research, Inc., 13.0, Champaign, IL, USA). The computer simulation of the robot motion is conducted in the MapleSim (Waterloo Maple Inc., 2019.1., Waterloo, ON, Canada) and SolidWorks software under different robot design parameters and friction conditions. The experimental prototype of the wheeled vibration- driven robot is developed at the Vibroengineering Laboratory of Lviv Polytechnic National University. The corresponding experimental investigations are carried out in order to verify the correctness of the obtained results of the numerical modeling and computer simulation. All the results are presented in the form of time dependencies of the robot’s basic kinematic characteristics: displacements, velocities, accelerations of the wheeled platform and disturbing body. The influence of the impact gap value on the average translational speed of the robot’s wheeled platform is studied, and the corresponding recommendations for designers and researchers of similar robotic systems are stated. The prospective directions of further investigations on the subject of the present paper and similar vibration-driven locomotion systems are considered. Keywords: semidefinite oscillatory system; working regimes; motion conditions; numerical modeling; computer simulation; experimental investigations; kinematic characteristics 1. Introduction Vibration-driven locomotion systems have gained significant interest among scientists and engineers all over the world. These systems can be effectively used for performing different operations in the mediums and environments where the use of other locomotion systems is impossible or inefficient, e.g., for inspecting and cleaning pipelines, delivering drugs or monitoring the inner surfaces of intestines or blood vessels, etc. The problems of modeling the dynamics and kinematics of vibration-driven locomotion systems are currently of significant interest among researchers all over the world. The dynamic behavior of the vibration-driven capsule-type locomotion system with different types of constraints is investigated in [1]. The motion conditions of the vibro-impact system sliding in the small intestine under the controllable sinusoidal excitation are thoroughly studied in [2]. The paper [3] is dedicated to the problems of optimizing the locomotion speed of the vibro- impact capsule-type system with single-sided and double-sided constraints of the internal Eng. Proc. 2022, 24, 25. https://doi.org/10.3390/IECMA2022-12897 https://www.mdpi.com/journal/engproc