all inequalities, which allows to determine the maximum technological load of the
robot, for example, for drilling, rivets, dowels, etc. technological operations.
As a result of the simulation, the limiting values of the technological load are
obtained (Fig.6): curves 1 and 2, respectively, determine the separation states from the
displacement surface of the first and second legs of the robot, and curves 3 and 4 are
the beginning of slippage of the said robot legs, respectively.
The robot of arbitrary orientation can be on such surfaces as a floor, a wall or a
ceiling. Accordingly, if the robot is on the floor, then in the above dependences it is
necessary to substitute the value
0,
0
оо
==; if on a vertical wall, then
90,
90
оо
==
and if on the ceiling, then
180,
180
оо
==
and so on.
Figure 6. Graphs of the boundary values of the technological force N of the
robot as a function of the angle α of the inclination to the horizon
Source: developed by the authors
And, finally, the third principle – the use of traction generators as a means of
counteracting the gravitational force is realized by the robot [18], shown in Fig. 7. Like
the previous one, it also has flexible pedipulators 2, grippers 3, gear 4 and electric
drives 5 on the body 1. The main difference of this robot is the installation in the center
of its masses suspension Cardan 6 with three degrees of freedom and a pneumatic
generator of traction 7.
The location of the thrust generator on the Cardan suspension allows the thrust
generator to maintain the coincidence of the lines of action of opposing forces: the rise
of G
1
and the gravitational force G, regardless of the position of the robot in the XYZ
space. This principle allows us to differentiate the approach to regulating the lifting
force of the robot, depending on its orientation in space. Such adjustment of
aerodynamic lift is necessary so that the robot does not turn into an aircraft. Otherwise,
there will be a separation of the robot from the surface of its movement, which is
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