Abstract
The article considers the synthesis and study of a mathematical model of a caterpillar mobile robot (MR) with separate main clamping magnets for moving and performing specified technological operations along inclined and vertical ferromagnetic surfaces. The authors have developed the mathematical models of MR's individual elements and the robot as a whole, taking into account the basic features of its structural design. The resulting mathematical model allows studying the MR’s behavior in different production conditions under spatial motion on an inclined surface and can be applied for further synthesis of the automatic control system for positioning such robots.
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