Study on numerical analysis of dynamic parameters of mobile walking robot

  • 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.
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.

Published
2020-03-23
How to Cite
Polishchuk, M., Suyazov, M., & Opashnyansky, M. (2020). Study on numerical analysis of dynamic parameters of mobile walking robot. Journal of Mechanical Engineering and Sciences, 14(1), 6380 - 6392. https://doi.org/10.15282/jmes.14.1.2020.14.0499
Section
Article