A Mathematical Model of the Locomotion Mechanism of a Mobile Track Robot with the Magnetic-Tape Principle of Wall Climbing

A magnetic-tape locomotion mechanism of a wall-climbing robot is developed. A mathematical model of the motion of a mobile robot on vertical surfaces is proposed. The basic hierarchical elements of the mathematical model are considered. A method for automated formation of a set of differential equat...

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Veröffentlicht in:	Journal of machinery manufacture and reliability 2019-05, Vol.48 (3), p.250-258
Hauptverfasser:	Tovarnov, M. S., Bykov, N. V.
Format:	Artikel
Sprache:	eng
Schlagworte:	Dependence Differential equations Engineering Locomotion Machines Manufacturing Mathematical analysis Mathematical models Mechanical systems Motion stability New Technologies in Mechanical Engineering Processes Robot dynamics Robots
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Beschreibung
Zusammenfassung:	A magnetic-tape locomotion mechanism of a wall-climbing robot is developed. A mathematical model of the motion of a mobile robot on vertical surfaces is proposed. The basic hierarchical elements of the mathematical model are considered. A method for automated formation of a set of differential equations for complex mechanical systems is developed. The motion stability of the mobile robot and the dependence of the capacity of drive motors on the locomotion speed are investigated.
ISSN:	1052-6188 1934-9394
DOI:	10.3103/S1052618819030130