INVESTIGATION OF THE THREE-LINK CRAWLING ROBOTS MOVEMENT ON THE NONDETERMINATED SURFACE

Bionic principles of locomotion are the most promising for displacement and transporting equipment under the most difficult conditions. Robots gait based on the changing shape of the robots body and interaction with the surface by body parts, can find application when moving over rough terrain, in a closed space of technological and natural cavities, where the use of wheel-track or walking principle is not possible. In this paper, we propose the design of a three-link crawling robot equipped with two-coordinate active joints. The robot is equipped by supporting elements. Some supporting elements has adjustable friction coefficients, which allows realize various types of movement algorithms of the device. The article presents a mathematical model of a three-link crawling robot, which allows to study the process of robot movement, including case when the coefficients of friction of the surface under the supports are not equal to each other. In practice, the surface will most often have an inhomogeneous nondeterministic structure, which will lead to a deviation in straight-line motion. The paper proposes an algorithm and a diagram of an automatic control system that allows robot to move along a given path despite the indeterminate surface. This is achieved by using additional sensors: a digital electronic compass, an accelerometer, a GPS module. The paper presents the results of computational experiments and the results obtained during the full-scale tests of the prototype of a three-link robot motion. At the end of the article, a comparative analysis of the experimental and theoretical results confirming the adequacy of the developed mathematical model and computational algorithms is presented.

ползающий робот, математическое моделирование, недетерминированная поверхность, система управления, crawling robot, mathematical modeling, non-deterministic surface, control system

1. Li G., Zhang H., Zhang J., Bye R. T. Development of Adaptive Locomotion of a Caterpillar-Like Robot Based on a Sensory Feedback CPG Model // Advanced Robotics. 2014. V. 28. № 6. P. 389-401.

2. Matsuo T., Ishii K. Adaptative Motion Control System of a Snake-Like Robot Using a Neural Oscillator Netowork // 2014 Joint 7th Int. Conf. on Soft Computing and Intelligent Systems (SCIS) and 15th Int. Symposium on Advanced Intelligent Systems (ISIS), Kitakyushu, Japan. 2014.

3. Conkur E. S., Gurbuz R. Path Planning Algorithm For Snake-Like Robots // Information Technology And Control. 2008. Vol. 37. № 2. P. 159-162.

4. Ворочаева Л.Ю., Наумов Г.С., Яцун С.Ф. Моделирование движения трехзвенного робота с управляемыми силами трения по горизонтальной шероховатой поверхности // Изв. РАН. ТиСУ. 2015. № 1. С. 156-170.

5. Ворочаева Л.Ю., Яцун А.С., Яцун С.Ф. Моделирование движения пятизвенного ползающего робота с управляемым трением по поверхности с препятствиями // Изв. РАН. ТиСУ. 2017. № 3. С. 191-216.

6. Яцун С.Ф., Мальчиков А.В., Жакин А.И. Динамические опорные элементы ползающих роботов для движения по наклонным поверхностям // Известия Юго-Западного государственного университета. 2012. №2 (41). С.89-95.

7. Jatsun S.F., Volkova L.Yu., Naumov G.S., Yatsun A.S. Modelling of movement of the three-link robot with operated friction forces on the horizontal surface // 16th Intern. Conf. on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Sydney, Australia, 2013. P. 677-684.

8. Jatsun S., Vorochaeva L., Yatsun A., Savin S., Malchikov A. Bio-inspired adaptive control strategy for a snake-like robot // 19th Intern. Conf. on System Theory, Control and Computing (ICSTCC), Cheile Gradistei - Fundata. Romania, 2015. P. 273-278.

9. Jatsun S.F., Vorochaeva L.Yu., Yatsun A.S., Savin S.I. Study of Caterpillar-like Motion of a Four-link Robot // 14th IFToMM World Congress. Taipei, Taiwan. 2015. P. 1-6.

10. Jatsun S., Vorochaeva L., Yatsun A., Malchikov A. Theoretical and Experimental Studies of Transverse Dimensional Gait of Five-Link Mobile Robot on Rough Surface // 10th Intern. Symposium on Mechatronics and its Applications ISMA, Sharjah, UAE, 2015. P. 1-6.

11. Jatsun S.F., Loktionova O.G., Vorochaeva L.Yu. Modeling of the operated movement to a caterpillar of the similar robot on a horizontal surface // Intern. J. of Pharmacy & Technology. 2016. Vol. 8 (3). P. 15231-15239.