Ворочаева (Волкова) Людмила Юрьевна

This paper approaches the issue of the jumping robot overcoming one step of a flight of stairs. A classification of obstacles according to the way they are surmounted is proposed, the basic concepts concerning the flight of stairs and the realization of a leap from one step to another are introduced. A numerical simulation of a robot’s jump, carried out with a certain initial velocity, the vector of which is located at a certain angle to the horizon, has been carried out. The influence on the ranges of these two values of the numerical values of the height and the length of the step, the ratios between the length and the height of the step, as well as the distance to the step from which the jump is performed have been established.

This paper deals with the gait of a robot crawling on a horizontal rough surface with dry friction. A distinctive feature of the device is the presence of two supporting elements with a controlled coefficient of friction, which allows for alternately fixing the supports on the surface. As a result of numerical simulation, the patterns (laws) of influence on the motion characteristics of the mass-dimensional and control parameters of the robot, as well as the parameters of the supporting surface, are obtained, so that it is possible to find application in the design of the specified devices.

Представлена структурная схема четырехзвенного прыгающего робота, разработана математическая модель движения объекта, в которой прыжок устройства представлен в виде последовательности этапов, получены закономерности перемещения устройства в зависимости от расположения точки закрепления ноги в корпусе объекта.

Представлена математическая модель плавающего робота, перемещающегося по криволинейной траектории в жидкой среде за счет движения двух внутренних масс и внешней силы вязкого сопротивления. Приведены результаты моделирования движения объекта.