characteristics of the robot. However, using the generator of aerodynamic forces
ensures reliable retention of the robot on surfaces of arbitrary orientation with any
structural and technological parameters of the robots. To calculate the critical angle of
inclination to the horizon and, accordingly, to regulate the force of the reactive thrust,
that is, the aerodynamic force of the pneumatic generator, it is necessary to take into
account other characteristics of the robot.
Figure 8. Graphs of the dependence of the normal reactions N
1
, N
2
of the robot
on the angle α of its inclination to the horizon
Source: developed by the authors
Results and discussion. The creation of means for accumulating the potential
energy of the drives, and then transforming them into kinetic energy of the robot's
motion, and also the integration of drives for longitudinal and vertical movement, can
significantly reduce the total power that is of fundamental importance for mobile robots
of arbitrary orientation in space, since reduces the gravitational load.
The use of a pneumatic motor as a means of counteracting the gravitational force
makes it possible, when adjusting the traction force, depending on the angle of the
robot's inclination to the horizon, to increase the reliability of holding the robot on the
surface of an arbitrary orientation, which in turn makes it possible to reduce the power
of the clutch actuators of the robot with the surface.
A fundamentally new realization of the legs of mobile robots in the form of a set
of hemispherical rings and corrugated pipelines at different gas or liquid pressures
makes it possible to achieve an arbitrary orientation of the mobile robot in different
working spaces: a rectangular Cartesian, spherical and cylindrical coordinate system.
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