Substantiation of structure and parameters of pneumatic system of mobile robot with orthogonal walking drive

2019;
: 61-72
https://doi.org/10.23939/ujmems2019.01.061
Received: November 24, 2018
Revised: February 20, 2019
Accepted: June 26, 2019
1
Lviv Polytechnic National University
2
Lviv Polytechnic National University
3
Dniprovsky State Technical University

Problem statement. Mobile robots have awoken a large interest between scientists and designers in the last few years. One of the prospective drives of such robots is based on pneumatically operated system with no use of electric, heat, magnetic or other types of energy. Purpose. The main purpose of this research consists in substantiation of structure and parameters of pneumatic system of mobile robot with orthogonal walking drive. Methodology. The research is carried out using the basic laws and principles of mechanics, pneumatics and automation. The numerical experiment is conducted in MathCAD software and computer simulation of the robot’s motion is performed using SolidWorks software. Findings (results) and originality (novelty). The improved structure of the mobile robot with orthogonal walking drive is proposed. The pneumatically operated system ensuring the robot’s motion is substantiated. Practical value. The proposed design of walking robot can be used while designing industrial (production) prototypes of mobile robotic systems for performing various activities in the environments that are not suitable for using electric power. Scopes of further investigations. While carrying out further investigations, it is necessary to ensure the possibility of changing motion direction of mobile robot by means of pneumatic drive. In addition, it is expedient to design the devices for changing motion speed of the robot and the height of lifting of its feet.

[1] B. Deepak, M. Bahubalendruni, and B. Biswal, “Development of in-pipe robots for inspection and cleaning tasks”, International Journal of Intelligent Unmanned Systems, vol. 4, no. 3, pp. 182–210, 2016. https://doi.org/10.1108/IJIUS-07-2016-0004

[2] Xiangxin Li, and Xinglun Tang, “Position error calibration analysis of a series orthogonal structure robot”, Modern Machinery, issue 01, TP242, 2017.

[3] Nazim Mir-Nasiri, Hudyjaya Siswoyo J., and Md. Hazrat Ali, “Portable autonomous window cleaning robot”, Procedia computer science, vol. 133, pp. 197–204, 2018. https://doi.org/10.1016/j.procs.2018.07.024

[4] A. E. Gavrilov, V. V. Zhoga, and P. V. Fedchenkov, “Synthesis of optimal program law for movement of a robot with orthogonal walking drives”, Journal of Computer and Systems Sciences International, vol. 50, issue 5, pp. 847–857, October 2011. https://doi.org/10.1134/S1064230711050108

[5] V. V. Zhoga, A. E. Gavrilov, and A. V. Eremenko, “Optimalnyy zakon gorizontalnogo peremeshcheniya mobilnogo robota s ortogonalnymi shagayushchimi dvizhitelyami” [“The optimum law of horizontal moving of the mobile robot with orthogonal walking movers”], Izvestiya Volgogradskogo gosudarstvennogo tekhnicheskogo universiteta [News of Volgograd State Technical University], vol. 8, no. 6, pp. 28–32, 2010. [in Russian].

[6] V. Zhoga, V. Skakunov, I. Shamanov, and A. Gavrilov, “Programmable Movement Synthesis for the Mobile Robot with the Orthogonal Walking Drivers”, in Advances in Mechanical Engineering. Lecture Notes in Mechanical Engineering. Springer, Cham, 2016, pp. 135–147. https://doi.org/10.1007/978-3-319-29579-4_14

[7] V. V. Zhoga, R. V. Aniskov, A. A. Merkulov, and V. N. Skakunov, “Sistema upravleniya elektroprivodom shagayushchego robota s ortogonal'nymi dvizhitelyami” [“Control system of electric-powered walking robot with orthogonal drivers”], Izvestiya Volgogradskogo gosudarstvennogo tekhnicheskogo universiteta [News of Volgograd State Technical University], vol. 21, no. 12, pp. 157–162, 2014. [in Russian].

[8] A. Ye. Gavrilov, A. S. Danshin, and A. A. Burkhanov, “Avtonomnaya robotizirovannaya shagayushchaya platforma dlya monitoringa okruzhayushchey sredy” [“Autonomous robotic walking base for environment monitoring”], Izvestiya Volgogradskogo gosudarstvennogo tekhnicheskogo universiteta [News of Volgograd State Technical University], vol. 21, no. 12, pp. 153–157, 2014. [in Russian].

[9] V. V. Zhoga, V. N. Skakunov, A. V. Filimonov, and D. V. Golubev, “Dinamika marshevykh rezhimov dvizheniya robota s ortogonal'nymi dvizhitelyami” [“Dynamics of the marching modes of motion of the robot with orthogonal movers”], Izvestiya Volgogradskogo gosudarstvennogo tekhnicheskogo universiteta [News of Volgograd State Technical University], vol. 16, no. 8, pp. 14–21, 2013. [in Russian].

[10] V. V. Zhoga, and P. V. Fedchenkov, “Mobilnyy avtonomnyy robot s shagayushchimi ortogonalno-povorotnymi dvizhitelyami” [“Mobile autonomous robot with walking orthogonal-turning drives”], Vestnik Nizhegorodskogo universiteta im. N. I. Lobachevskogo [Bulletin of Lobachevsky University of Nizhni Novgorod], vol. 4, no. 5, pp. 2160–2162, 2011. [in Russian].

[11] V. M. Korendiy, O. Yu. Kachur, V. I. Gurey, and O. V. Lanets, “Modelyuvannya rukhu mobilnoho robota z pnevmatychnym pryvodom ta ortohonalnym krokuyuchym rushiyem” [“Modelling the motion of mobile robot with pneumatic drive and orthogonal walking mover”], in Proc. of 14th International Symposium of Ukrainian Mechanical Engineers in Lviv, Lviv, Ukraine, May 23–24, 2019, pp. 79–80. [in Ukrainian].

[12] I. L. Krivts, and G. V. Krejnin, Pneumatic Actuating Systems for Automatic Equipment: Structure and Design. Boca Raton: CRC Press, 2016. https://doi.org/10.1201/9781420004465

V. Korendiy, R. Zinko, D. Muzychka, "Substantiation of structure and parameters of pneumatic system of mobile robot with orthogonal walking drive", Ukrainian Journal of Mechanical Engineering and Materials Science, vol. 5, no. 1, pp. 61-72, 2019.