The paper delivered describes a new approach into kinematics and dynamics of the robots with a tree-like kinematic structure based on the elements of graph theory. Block-matrix equation for robot's movement within generalized coordinates is valid for different tree-like kinematic structures with no change in tracing. It permits to develop generalized software for the whole class of tree-like kinematic structure. Some of the modelling details in hydraulic actuator of bipedal robot are submitted. Experimental research data of robot's walking based on mathematical modelling are compared to those of a pilot model.
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The analysis results of the action of various force factors that slows the hydraulic valve when fitting on the saddle are presented. Manifestations of inertia forces in a thin layer of liquid located in the gap between the valve and the seat immediately before the closing of the gap are shown. The components of inertia forces are distinguished, which differ in the mechanism of occurrence. The degree of their influence on the fitting process in relation to the viscosity forces is shown.
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