Design and operational peculiarities of four-degree-of-freedom double-legged robot with pneumatic drive and turning mechanism

Надіслано: Січень 24, 2020
Переглянуто: Квітень 03, 2020
Прийнято: Липень 31, 2020
1
Національний університет “Львівська політехніка”
2
Національний університет «Львівська політехніка»
3
Національний університет «Львівська політехніка»
4
Lviv Polytechnic National University

Problem statement. Mobile robots are of significant interest among scientists and designers during the last several decades. One of the prospective drives of such robots is based on pneumatically operated walking (stepping) system with no use of electric, heat, magnetic or other types of energy. This allows the use of pneumatically-driven robots in the cases when the use of other energy sources is prohibited (e.g., in some gaseous or fluid mediums). At the same time, the walking (stepping) type of moving increases the manoeuvrability and cross-country capability of the mobile robot, and decreases the harmful effect of its interaction with the supporting surface (e.g., the fertile soil surface) in comparison with wheeled or caterpillar drives. Purpose. The main purpose of this research consists in substantiation of structure and parameters of pneumatic system of four-degree-of-freedom mobile robot with orthogonal walking drive and turning mechanism. 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; the computer simulation of the robot’s motion is performed using SolidWorks software; the modelling of the pneumatic system operation is carried out in Festo FluidSim Pneumatic software. Findings (results) and originality (novelty). The improved structure of the mobile robot with orthogonal walking drive and turning mechanism is proposed. The pneumatically operated system ensuring the robot’s curvilinear 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 or other types of energy sources. Scopes of further investigations. While carrying out further investigations, it is necessary 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.

[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.

[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].

[12] 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.

V. Korendiy. R. Zinko, V. Lozynskyy, O. Havrylchenko, "Design and operational peculiarities of four-degree-of-freedom double-legged robot with pneumatic drive and turning mechanism", Ukrainian Journal of Mechanical Engineering and Materials Science, vol. 6, no. 1, pp. 54-71, 2020.