Substantiation of structure and parameters of pneumatic system of mobile robot with orthogonal walking drive
Date
2019-03-20
Journal Title
Journal ISSN
Volume Title
Publisher
Видавництво Львівської політехніки
Lviv Politechnic Publishing House
Lviv Politechnic Publishing House
Abstract
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.
Description
Keywords
mobile robot, walking drive, pneumatic system, simulation, timing diagram, numerical modelling, motion speed, control system
Citation
Korendiy V. Substantiation of structure and parameters of pneumatic system of mobile robot with orthogonal walking drive / Vitaliy Korendiy, Roman Zinko, Diana Muzychka // Ukrainian Journal of Mechanical Engineering and Materials Science. — Lviv : Lviv Politechnic Publishing House, 2019. — Vol 5. — No 1. — P. 61–72.