kinematics

The article gives the theoretical base for construction of equipment for experimental research of static, kinematic and dynamic characteristics of devices for speed change by epicyclic gear trains with closed circuit hydrosystems through the ring gear during the transmission by them of the periodic, shock long-term or short-term loads or their executive mechanism stoppage due to overload.

Problems and prospects of using the walking mode for producing motion of robotic systems are considered. Advantages and spheres of the use of mobile robotic systems equipped with walking movers are substantiated. Preferences of cyclic (lever) walking mechanisms are analyzed. The kinematic parameters of four-bar crank-rocker walking mechanism, constructed on the basis of Chebyshov-Umnov mechanism, are accepted as the subject of research. The process of motion of the supporting foot of the walking mechanism is accepted as the object of research.