ОПТИМИЗАЦИЯ ДВИЖЕНИЯ ОПОР ШАГАЮЩЕЙ МАШИНЫ С ДИНАМИЧЕСКОЙ УСТОЙЧИВОСТЬЮ

Abstract

The movement of machines with a walking legs is accompanied by dynamic vibrations of its body and a large energy consumption for the reciprocating movements of the legs. The greatest influence on the smoothness of the course is exerted by the alternating accelerations of the moving masses and the rigid contact of the leg with the ground surface. To reduce the negative factors affecting the smoothness of movement and energy consumption, are proposed to optimize the trajectory of movement of the legs. The optimized trajectory of the legs movement made it possible to reduce the consumption of electrical energy by 12 ... 18% per cycle of movement compared to the trajectory lying in the same geometric plane. In order to reduce shock loads, the time interval between the triggering of the shock sensor and the load sensor when lowering the support to the surface was experimentally determined, which was about 100 ms at a lowering speed of 20 mm/s. Reducing the speed of the leg at the moment of triggering the shock sensor after contact with the surface and its subsequent smooth loading made it possible to reduce shock loads and reduce body vibrations caused by sharp impacts of the feet on the surface. Support acceleration on impact decreased from 6g to 1.5g. The triggering of the shock sensor located on the support foot when it touches hard and soft surfaces requires adjusting the sensor's sensitivity while the machine is moving. Optimization of the algorithm for filtering false alarms and dynamic change in sensitivity did not give a satisfactory result, therefore, it is necessary to equip the design with additional load sensors that react to contact with the surface when lowering the support