Study on numerical analysis of dynamic parameters of mobile walking robot

Authors

  • Mikhail Polishchuk Department of Technical Cybernetics, Igor Sikorsky Kyiv Polytechnic Institute, 03056 Kyiv, Ukraine. Phone: +380503555777.
  • Mykyta Suyazov Department of Technical Cybernetics, Igor Sikorsky Kyiv Polytechnic Institute, 03056 Kyiv, Ukraine. Phone: +380503555777.
  • Mark Opashnyansky Department of Technical Cybernetics, Igor Sikorsky Kyiv Polytechnic Institute, 03056 Kyiv, Ukraine. Phone: +380503555777.

DOI:

https://doi.org/10.15282/jmes.14.1.2020.14.0499

Keywords:

mobile robots, stepping mechanisms, pedipulators, robots of vertical movement

Abstract

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.

References

Dethe DR, Jaju SB. Developments in wall climbing robots: a review. International journal of engineering research and general science. 2014; 2(3): 36–37.

Apostolescu TC, Udrea C, Duminica D, Ionascu G, Bogatu I, Cartal LA, et al. Development of a climbing robot with vacuum attachment cups. Mechanical engineering and new high-tech products development. 2011;3: 258–267.

Polishchuk MN, Tkach MM. Grip of walking robot. Patent UA 117979 IPC B65H 5/08.; Published Jul 10. 2017; 13: 4–6.

Yampolskiy LS, Polishchuk MN, Persikov VK. Method and device for movement of pedipulators of walking robot. UA, Patent 111021. 2016; 4: 3–4.

Polyshchuk MN. Pedipulator of robot of the vertical moving with possibility. Adaptive automatic control systems. 2016; 1(28): 107–115.

Chashchukhin VG. Investigation of the movement parameters of a robot with a sliding seal. Bulletin of the Nizhny Novgorod University. 2011; 4 (2): 347–349.

Silva M, Machado TJ. A survey of technologies and applications for climbing robots locomotion and adhesion. Instituto Superior de Engenharia do Porto Portugal. 2012.

Lam TL, Xu Y. Tree climbing robot: Design, kinematics and motion planning. Springer Heidelberg New York 2012; 37–46.

Dyshenko VS. Research of the dynamics of a mobile robot for moving along vertical surfaces: Dissertation. Candidate of Engineering Sciences. Kursk State Technical University. 2006; 108–105.

Yehya M, Hussain S, Wasim A, Jahanzaib M, Abdalla H. A cost effective and light weight unipolar electroadhesion pad technology for adhesion mechanism of wall climbing robot. International Journal of Robotics and Mechatronics. 2014; 2(1): 4–10.

Inel F, Babesse S. Adaptive sliding mode control of a novel cable driven robot model. Journal of Mechanical Engineering and Sciences. 2019; 13(2): 5150–5162.

Polishchuk M, Tkach M. Mobile robot with an anthropomorphic walking device: Design and simulation. FME Transactions. 2020; 48(1): 13–20.

Fernini B, Temmar M, Noor MM. Toward a dynamic analysis of bipedal robots inspired by human leg muscles. Journal of Mechanical Engineering and Sciences. 2018; 12(2): 3593-3604.

Robotic system of Swiss firm Gekko Serbot AG. URL: https://www.designworldonline.com/cleaning-solar-panels-with-a-robotic-gecko/ (date of site visit: 09.02.2019).

Kinugasa T, Ando K, Fujimoto S, Yoshida K, Iribe M. Development of a three-dimensional dynamic biped walking via the oscillation of telescopic knee joint and its gait analysis. Journal of Mechanical Engineering and Sciences. 2015; 9: 1529-1537.

Polishchuk MN, Oliinyk VV. Dynamic model of a stepping robot for arbitrarily oriented surfaces. In: Hu Z., Petoukhov S, Dychka I, He M, (eds) Advances in Computer Science for Engineering and Education II. ICCSEEA Advances in Intelligent Systems and Computing, Springer, Cham. 2020;938: 32–42.

Walking mobile robot: Patent UA No. 117065: Ukraine: Int. Cl. B62D 57/032. Appl. No a 2017 01440; Filed: 16.02.2017; Date of Patent: 11.06.2018; 11: 4–6.

Downloads

Published

2020-03-23

How to Cite

[1]
M. Polishchuk, M. Suyazov, and M. Opashnyansky, “Study on numerical analysis of dynamic parameters of mobile walking robot”, J. Mech. Eng. Sci., vol. 14, no. 1, pp. 6380–6392, Mar. 2020.

Issue

Vol. 14 No. 1 (2020): March 2020

Section

Article

License

Copyright (c) 2020 The Author(s)

Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.