Walking Mobile Robot of Arbitrary Orientation | Zendy

Mikhail Polishchuk | Zendy; Mark Opashnianskyi | Zendy; Nikita Suyazov | Zendy

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Walking Mobile Robot of Arbitrary Orientation

Author(s) -

Mikhail Polishchuk,

Mark Opashnianskyi,

Nikita Suyazov

Publication year - 2018

Publication title -

international journal of engineering and manufacturing

Language(s) - English

Resource type - Journals

eISSN - 2306-5982

pISSN - 2305-3631

DOI - 10.5815/ijem.2018.03.01

Subject(s) - cartesian coordinate system , orientation (vector space) , robot , cartesian coordinate robot , mobile robot , mechanism (biology) , simulation , computer science , engineering , computer vision , robot kinematics , artificial intelligence , geometry , mathematics , physics , quantum mechanics

The article describes the device and the mathematical model of a walking mobile robot of a fundamentally new construction. The difference between this technical solution is the ability to move the robot on surfaces of arbitrary orientation in different coordinate systems: rectangular Cartesian, cylindrical and spherical. In the proposed design, the walking robot mechanism is made in the form of flexible pedipulators and allows the mobile to perform transitions on surfaces that have an arbitrary orientation at different angles to the horizon. The technique for calculating the construction parameters of the walking robot mechanism and the trajectories of the robot legs bending is given. This walking robot is designed to perform technological operations in extreme conditions.

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