Study on numerical analysis of dynamic parameters of mobile walking robot

被引：4
|
作者：
Polishchuk, Mikhail [1 ]
Suyazov, Mykyta [1 ]
Opashnyansky, Mark [1 ]
机构：
[1] Igor Sikorsky Kyiv Polytech Inst, Dept Tech Cybernet, UA-03056 Kiev, Ukraine
来源：
JOURNAL OF MECHANICAL ENGINEERING AND SCIENCES | 2020年 / 14卷 / 01期
关键词：
mobile robots; stepping mechanisms; pedipulators; robots of vertical movement;
D O I：
10.15282/jmes.14.1.2020.14.0499
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A dynamic model of a walking robot is proposed for moving along surfaces of different topologies and orientations to the horizon. The principal difference between walking robot mechanisms is that they are made in the form of flexible pedipulators. Actually the pedipulators are a set of spherical rings with a hydraulic or pneumatic drive. The patented design (Patent UA No 117065, publ. 2018.06.11) of the robot's feet is anthropomorphic and allows the robot to work in the angular coordinate system inherent in the human walking machine. The proposed mathematical model allows us to calculate the dynamic parameters (forces and moments) and compare these parameters with the allowable technological load that a walking robot can perform without losing adhesion with the displacement surface.
引用
收藏
页码：6380 / 6392
页数：13
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