Abstract
The results of modelling the movement of a walking robot of arbitraryorientation are presented. The difference between the presented dynamic models of the mobile robot is that the movement of the robot on the surface of any orientation in space is realized due to the transformation of the accumulated potential energy into kinetic energy of motion. This approach to controlling walking robots can save up to 30 ... 40% of the robot's energy resources and direct them to perform technological operations.The article contains systems of differential equations of motion of the robot,which were solved by the numerical Runge-Kutta method of the fourth order ofaccuracy. As a result, graph-analytical relationships between the constructiveparameters of the walking robot are obtained. This will create an engineeringtechnique for designing walking robots of arbitrary orientation, which contain devices for accumulating potential energy and converting it into kinetic energy of the robot's motion.Ref. 5, pic. 3
Highlights
One of the main tasks of designing walking robots of vertical movement is to create a transmission to move the robot on a vertical or any orientation of the moving surface
This is due to the fact that relative to traditional mobile robots, the gravitational force helps to stabilize their movement, and in the case of vertical movement robots – on the contrary, requires its overcoming in order to ensure the retention of the robot on the surface of arbitrary orientation in space
The latter are equipped with elastic elements 4, which perform the function of accumulating potential energy during the first half of the displacement cycle – in the first half of the step
Summary
One of the main tasks of designing walking robots of vertical movement is to create a transmission to move the robot on a vertical or any orientation of the moving surface. Engineering calculations of the design parameters of such robots should be carried out taking into account the dynamic loads when moving on the surface of arbitrary orientation. This is due to the fact that relative to traditional mobile robots, the gravitational force helps to stabilize their movement, and in the case of vertical movement robots – on the contrary, requires its overcoming in order to ensure the retention of the robot on the surface of arbitrary orientation in space
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