Parametrical analysis of vacuum contact devices for wall climbing robots

Авторы: Gradetsky V.G., Knyazkov M.M., Semenov E.A., Sukhanov A.N.
Сборник: Robots in Human Life - Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020
Глава в коллективной монографии
Год издания: 2020
Место издания: CLAWAR Association Ltd, UK UK
Первая страница: 67
Последняя страница: 74
DOI: 10.13180/clawar.2020.24-26.08.25
Аннотация: Linearized model of vacuum contact device is presented for study of wall climbing underwater robot parameters. Features of such device design are discussed. Device includes pneumatic chamber, drive, source of vacuum and sealing. Pneumatic chamber of device model is depicted as a changed volume with variable and constant pneumatic restrictions – throttles included on input and output of chamber. Pressure pump or ejector is used as source of the vacuum. The results of simulation and modeling permit to find relationships between such parameters as pressure, flow rate, pressing force. Motion-path cyclograms and pressure changing characteristics illustrate dependence between working parameters. The obtained results of model study are used to develop calculation method for design prospective prototypes of vacuum contact devices.
Добавил в систему: Князьков Максим Михайлович

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