unacceptable. Therefore, the aerodynamic lifting force should not exceed the force of
adhesion of the robot to the surface of movement of an arbitrary orientation in the
technological space.
Figure 7. Mobile robot with pneumatic generator of aerodynamic lift
Source: developed by the authors
Similarly to the previous case, from the system of equilibrium equations of the
robot determine the forces of normal reactions N
i
of the legs of the robot and the
corresponding frictional forces Q
i
(see Fig.7):
2
12
1
()
N
b
G
G
=−
, (9)
where: G – the weight of the robot; G
1
– traction force; α - angle of inclination of
the plane of movement of the robot to the horizon
12
2
cos
sin
2
cc
b
y
z
y
=−
; y
c
, z
c
–
coordinates of the center of gravity of the robot; y2 – coordinate of contact with the
moving surface of the second part of the robot.
The frictional force Q
1y
and the normal reaction N
1
are determined as
1
1
12
1
1
12
1
1
(
)(
sin);
(
)(
cos)
2
2
Q
G
G
b
N
G
G
b
y
=
−
−
+
=
−
−
+
. (10)
As can be seen from the graphs of Fig. 8 with positive reactions N
1
and N
2
with
the angle of inclination of the displacement surface
0
54
, the weight of the robot
increases the technological load. This means that the inclusion of the jet engine is more
suitable for the values of the angle of inclination of the robot to the horizon at
0
54
α. Of course, the critical angle of inclination depends on the other centrifugal
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