where d – the internal diameter of the corrugated tubes. Since the axes of the
pipelines are offset from the pedipulator axis by the eccentricity e, there are moments
M
1
and M
2
that flex the robot's leg:
2
2
1
1
2
2
3
4
(
);
(
)
4
4
d
d
M
p
p
eM
p
p
e
=
−
=
−
(4)
where: e – eccentricity of placement of corrugated pipelines in the plane of the
coordinate system.
Figure 5. Model of the robot with flexible pedipulators
Source: developed by the authors
To develop a robot, it is necessary to establish a connection between the forces of
adhesion of its legs to the displacement surface and the permissible technological load
to ensure the reliability of its industrial operation. Having formulated the system of
equilibrium equations (here we omit the record for brevity), we find the corresponding
reaction forces N
1,2
(Fig. 5) and the frictional forces Q
1,2
by the robot foot to the
displacement surface and then compare them with the technological load N in
depending on the angle α of the robot inclination to the horizon.
The reaction forces of N
2
and the frictional forces Q
2y
of the robot supports with
the displacement surface are determined as follows (the designation of the parameters,
see Fig.5):
2
2
3
3
2
3
3
;
y
N
Q
aG
bN
Q
dG
hN
=
+
−
=
+
, (5)
where for the compactness of the incoming values of variables is denoted:
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