Об определении допустимых параметров движителей шагающих роботов

Abstract

Unlike the wheeled and tracked propulsion systems, the walking movers have not yet acquired common design features. Therefore, designers of new walking machines encounter multicriterion tasks. The authors consider definition of the admissible parameters of the walking robots' movers. Step length and area of the bearing surface of the foot are the main parameters of a walking mover. The quality of the design of a walking machine and control of its movement can be evaluated by particular quality indicators of the relative area of the contactless overcome obstacles, step length, average ground pressure, and moderate resistance to the movement. A comprehensive analysis of particular quality indicators will make it possible to obtain a compromise solution. The set task is determination of the parameter values of a walking machine in the form of the dependence of the radius of the round foot of the walking mechanism on the step length, ensuring admissible values of the particular indicators. If the conditions for each of the particular indicators are met, the admissible values of the indicators will be ensured. On the basis of the indicators, characterizing the quality of the walking robots, in the parameter space of the movers an area is built, ensuring the admissible values of the indicators. The obtained area is restricted by the limiting value of the quality criteria indicators of a walking machine, determining the admissible values of a walking mover: foot size and step length of a walking machine. The location of the boundaries and the shape of the area may vary with a change of the limiting values of the indicators. Thus, the quality indicators form the area of the admissible parameters of a walking mover. The proposed method makes it possible to select the desired parameters of a mover at the design stage. It was used in the development of Ortonog walking machine.