Figure 1. Mobile robot Kuznetsova – Polishchuka with gas energy accumulator
Source: developed by the authors
Pedipulator robot is made in the form of articulated parallelograms, at the ends of
which are installed grippers clutch with the displacement surface. But the main
difference is in the presence of gas cylinders, the pistons of which are connected to the
engine through a non-self-braking helical gear and kinematic gears. It is the designated
gas cylinders that perform the function of accumulating potential energy at the first
step and turning it into the kinetic energy of motion at every second step of the robot.
The figure shows the initial position of the robot. The clutch grips of diagonally located
pedipulators are in a state of adhesion to the displacement surface, and the grips of the
other two pedipulators are free from adhesion to the specified surface. In the XYZ
coordinate system, the robot has five degrees of freedom, namely: longitudinal
displacement ± S
Y
and slope ± β relative to the Y axis; ± S
Z
displacement and ± α
rotation relative to the Z axis; ± S
X
movement along the X axis. Such a number of
movements allow the robot to perform not only transport, but also technological
operations.
The gas accumulator energy storage of this robot is shown by the detail element
“A” (Fig. 1) in Fig. 2. At the command of the controller, the engine 1 is turned on,
which, through the clutch 2 and the shaft 3, transfers the drive gear 4, which wraps the
gear wheel 5 and the non-self-locking nut 6.
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