Synthesis of optimal program law for movement of a robot with orthogonal walking drives

Гаврилов, А. Е.; Жога, В. В.; Fedchenkov, P. V.

doi:10.1134/s1064230711050108

Cited by 5 publications

(2 citation statements)

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“…In [5], there are considered the algorithms of controlling the orthogonal robot motion depending on the signals obtained from the spatial orientation system. The problems of synthesizing the optimal laws of the orthogonal robot locomotion aimed at reducing the power consumption are investigated in [6]. The investigations dedicated to the implemented methodologies of performing the in-pipe locomotion of various mobile robots driven by different actuators (DC motors, servo motors, pneumatic and hydraulic systems) are presented in [7].…”

Section: Review Of Modern Information Sources On the Subject Of The Papermentioning

confidence: 99%

Modelling and simulation of pneumatic system operation of mobile robot

Korendiy¹,

Kachur²,

Havrylchenko³

et al. 2020

Ukr. j. mech. eng. mater. sci.

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Problem statement. Mobile robots are currently of significant interest among researchers and designers all over the world. One of the prospective drives of such robots is equipped by a pneumatically operated orthogonal system. The processes of development and improvement of orthogonal walking robots are significantly constrained because of the lack of an open-access comprehensive scientific and theoretical framework for calculating and designing of the energy-efficient and environmental-friendly pneumatic walking drives. Purpose. The main purpose of this research consists in the kinematic analysis, motion modelling and pneumatic system simulation of the mobile robot with an orthogonal walking drive. Methodology. The research is carried out using the basic laws and principles of mechanics, pneumatics and automation. The numerical modelling of the robot motion is conducted in MathCad software. The computer simulation of the robot kinematics is performed using SolidWorks software. The operational characteristics of the robot’s pneumatic system are investigated in Festo FluidSim software. Findings (results) and originality (novelty). The improved design of the mobile robot equipped by the orthogonal walking drive and turning mechanism is thoroughly investigated. The motion equations of the orthogonal walking drive are deduced, and the graphical dependencies describing the trajectories (paths) of the robot’s feet and body are constructed. The pneumatically operated system ensuring the robot rectilinear and curvilinear locomotion is substantiated. Practical value. The proposed design of the walking robot can be used while developing industrial (production) prototypes of mobile robotic systems intended for performing various activities in the environments that are not suitable for using electric power. Scopes of further investigations. While carrying out further investigations, it is expedient to design the devices for changing the robot locomotion speed and controlling the lifting height of its feet.

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Section: Review Of Modern Information Sources On the Subject Of The Papermentioning

confidence: 99%

Modelling and simulation of pneumatic system operation of mobile robot

Korendiy¹,

Kachur²,

Havrylchenko³

et al. 2020

Ukr. j. mech. eng. mater. sci.

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“…The necessity of these phases is conditioned by the requirement of unstressed contact of the vertical posts at the robot adaption to the supporting surface. Kinematic scheme of the robot allows us to implement a walk, in which the robot body moves continuously, and unstressed adaptation of the robot to the roughness of the support surface is provided by the programmatic laws of the relative movement of its parts [10].…”

Section: Programmable Movementmentioning

confidence: 99%

The Control System of the Eight-Legged Mobile Walking Robot

Andreev

Жога

Serov

et al. 2014

Communications in Computer and Information Science

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Abstract. The paper considers the control system of the autonomous mobile robot CS-7 with eight supporting legs, installed on four hard frames in pairs. Advantages of the chosen design: energy absence to support machine weight and simpler algorithms of trajectory and reference points motion management.Onboard control is designed as a scalable, modular distributed low-level microprocessor system, which comprises two major subsystems: information measurement for processing sensors data and robot actuators control.Supervisory control mode is supported by the vision system based on timeof-flight cameras and a set of ultrasonic and infrared sensors, geosteering module for local and global robot positioning. Measuring information is transmitted to the control computer via Wi-Fi module. Software for the upper-level computer and library of functions for low-level units are developed for the implementation of various robot motion algorithms. Functions define the basic parameters of orthogonal movers depending on the given route and environment map.

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