|
ИСТИНА |
Войти в систему Регистрация |
ИПМех РАН |
||
Dynamic characteristics of pneumatic wall-climbing robotsстатья Исследовательская статья
- Авторы: Gradetsky V.G., Knyazkov M.M., Semenov E.A., Sukhanov A.N.
- Журнал: Journal of Advanced Research in Technical Science
- Номер: 10-1
- Год издания: 2018
- Издательство: Индивидуальный предприниматель Жукова Елена Валерьевна
- Местоположение издательства: North Charleston, USA
- Первая страница: 58
- Последняя страница: 64
- Аннотация: Researches of dynamic and functional characteristics play important part of knowledge about behaviour of mechanical systems including robots. All basic platforms of wall climbing robots are working in dynamic conditions so quality of functional processes depends essentially on influences of driving robot masses motion. Functional characteristics present dependency on time of such mechanical parameters like velocity, acceleration, position of pneumatical drives of wall climbing robots. External disturbances may be in the form of step function or harmonic function, so response times of moving parts characterize their dynamic behavior. Suggested pneumatic scheme includes vacuum generators of ejector type, pneumatic drives for main transport motion of two platforms, vacuum contact devices drives, rotation motion drives, electro-pneumatic valves, sensors and transducers. Control systems based on microcontroller and information-measuring feedback loop. Two types of pneumatic wall climbing robots with vacuum contact devices are under consideration - with payload capacity 50 kg and 30 kg. Time-velocity and time-acceleration curves were obtained for piston’s move out and pull in for both of robots with payload capacity 30 kg and 50 kg. The same characteristics were obtained for central and external platforms of wall climbing robots.
- Добавил в систему: Князьков Максим Михайлович
Прикрепленные файлы
| № | Имя | Описание | Имя файла | Размер | Добавлен |
|---|---|---|---|---|---|
| 1. | Полный текст | elibrary_35232809_30644357.pdf | 446,3 КБ | 30 июля 2018 [KnyazkovMM] |