Email this article THE STUDY OF INFLUENCE OF THE PARAMETERS OF MASS CENTER TRAJECTORY OF A JUMPING ROBOT ON ITS ACCELERATION MODES
- Authors: Vorochaeva L.Y.1, Savin S.I.1
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Affiliations:
- Southwest State University
- Issue: No 3 (2018)
- Pages: 22-30
- Section: Articles
- URL: https://vektornaukitech.ru/jour/article/view/92
- DOI: https://doi.org/10.18323/2073-5073-2018-3-22-30
- ID: 92
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Abstract
The characteristic property of all robotic systems moving with the repeated liftoff from the support surface is the flight phase when it is extremely difficult to control the movement of a robot and correct its trajectory. Therefore, it is relevant to ensure the movement of a device during acceleration and its liftoff from the surface with such parameters that the system behaves properly during the flight. The authors of the paper solved this issue by the formation of the desired trajectory of the robot's mass center during the acceleration of the device.
The robot consists of a body and acceleration module formed by three elements, two of which are a sliding pair and the other are connected to each other and to the body by means of rotary joints. The trajectory of the robot's mass center during the acceleration is formed in such a way that, during the required time, the certain numerical value of velocity is achieved, the vector of which is directed at the specified angle to the horizon. To provide such a trajectory of movement, the authors developed the control system with the controller built on the linear quadratic programming.
In the result of numerical simulation, six acceleration modes when varying the control parameters are determined: during some of them, a robot contacts the surface in two supporting points that are either stationary or sliding along the surface; during the other, the liftoff of one of the two supporting points or the tilting of the device (in the case when the liftoff of a supporting point takes place at the first moments of acceleration) takes place. The authors drew the diagrams of the acceleration modes that can be used to determine the ranges of permissible parameters of a jumping robot for accelerating in the required mode.
About the authors
L. Yu. Vorochaeva
Southwest State University
Author for correspondence.
Email: mila180888@yandex.ru
Vorochaeva Lyudmila Yurievna - PhD (Engineering), assistant professor of Chair of Mechanics, Mechatronics and Robotics.
305040, Kursk, 50 let Oktyabrya Street, 94. Tel.: (4712) 22-26-26
S. I. Savin
Southwest State University
Email: savinswsu@mail.ru
Savin Sergey Igorevich - PhD (Engineering), senior researcher of Chair of Mechanics, Mechatronics and Robotics.
305040, Kursk, 50 let Oktyabrya Street, 94. Tel.: (4712) 22-26-26
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