Function
Operating area
Recommended clutch
systems
Permissible
transmission
Repair of high voltage
power transmission
lines
Mechanical,
electromagnetic
Walking
mechanism
Restoration of bridges,
diagnostics of
structures
Mechanical
Walking
mechanism
Maintenance
of trees
Mechanical
Walking
mechanism
Maintenance
of industrial facilities in
extreme conditions
Mechanical
Wheel gear,
Tracked,
Walking
mechanism
Source: compiled by the authors
Solution of the problem under consideration. In contrast to the above, the
concept of improving robots of arbitrary orientation based on three fundamental
principles of the synthesis of mobile robot designs is proposed:
1) Accumulation of potential energy at each previous step of the robot's movement
and subsequent conversion to kinetic energy at the next step of the movement.
2) Integration of drives of longitudinal, vertical displacement, and also drives of
change of orientation of the robot according to the set route.
3) The use of traction generators (aerodynamic lift forces) as a means of
counteracting the gravitational force to increase the technological load while
simultaneously reducing the power of clutch drives and the movement of robots.
As technical means of implementing these principles of synthesis, consider the
corresponding models of robots of arbitrary orientation. In Figure 1 shows a mobile
robot [14] realizing the first of the above mentioned principles, namely having the
ability to accumulate potential energy at each previous step and converting it into
kinetic energy of motion at each subsequent step of displacement.
- 537 -