Polishchuk M.
Candidate of Technical Sciences, Associate Professor, National Technical
University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”, Kyiv, Ukraine
Kuznetsov Yu.
Doctor of Technical Sciences, Professor, National Technical University of
Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”, Kyiv, Ukraine
MOBILE ROBOTS OF ARBITRARY ORIENTATION:
DESIGN AND MODELLING
Introduction. The evolution of technical systems in the field of engineering
science, as a rule, led to the emergence of new means of production. In the twentieth
century scientific and technical thought created sufficiently reliable means of
overcoming the gravitational force in the form of flying and reactive equipment. These
funds are used as a reliable transport. However, up to the present time there are no
industrial samples of equipment for performing contact technological operations while
simultaneously overcoming the forces of gravity.
Mobile robots of arbitrary orientation are known in publications as robots of
vertical movement or in international publications – under the term Climber Robot, are
a new modification of mobile robots. These robots are equipped with means of fixation
on the surface of arbitrary orientation relative to the horizon of the technological space.
The creation of this kind of robotics is at the initial stage and is dictated by the need to
perform technological operations in such areas of industrial activity as monitoring of
industrial facilities, installation and dismantling of building structures, repair and
prevention of their components. In the context of the fourth industrial revolution,
"Industry 4.0" [1], with the focus on the use of robotic systems, information and
communication tools, and the use of these robots becomes especially urgent in the
extreme conditions of man-made disasters that are dangerous and even unacceptable
for human presence.
The problem of creating this type of robots is the lack of a methodology for
synthesizing the robot subsystems that compensate or overcome the gravitational load
in order to ensure that the robot is held on an arbitrarily oriented surface during the
execution of technological operations. Therefore, the purpose of this research is to
develop principles for the synthesis of mobile robots and the introduction of modern
computer modeling tools for the transition to the design and manufacture of prototypes
of mobile robots.
Theoretical and experimental studies on the creation of robots of arbitrary
orientation in the technological space began in the last decade of the twentieth century
- 535 -