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A Six-Legged Robot Overcoming a Blockage of Two Rough Cylindersстатья
- Авторы: Golubev Yu F., Melkumova E.V., Filatov K.A.
- Сборник: International Scientific Conference. Fundamental and Applied Problems of Mechanics (FAPM-2022) Moscow, 6–9 December, 2022. The materials of the conference. In two parts. Part 1
- Год издания: 2023
- Место издания: Издание доступно в электронном виде по адресу https://bmstu.press/catalog/item/7970/
- Первая страница: 189
- Последняя страница: 190
- Аннотация: The model problem of overcoming by an insectomorphic robot an obstacle in the form oftwo straight circular cylinders lying on top of each other at some angle is considered. Thesystem is affected by the force of gravity, all points of contact is affected by the limitedforces of dry friction, rolling friction and the active resultant of the forces arising from theleaning on the cylinders by the robot. The conditions under which the equilibrium of thesystem is possible are found. A special study is made of the feasibility of the equilibriumconditions for the case when the cylinders lie perpendicular to each other. In the software package “Universal Mechanism” a mathematical model of the system was created and themain elements of the interaction of the robot with the environment were worked out. Simple criteria for assessing the surmountability of the considered type of obstacles by an insectomorphic robot are found.
- Добавил в систему: Мелкумова Елена Вадимовна