Algorithm of Determining the Position of the Extremities of a Stepping Mobile Robot in Space

Authors

  • Yu. Yu. Khazanovych National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”
  • I. Yu. Cherepanska National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”
  • Yu. V. Kirychuk National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”

DOI:

https://doi.org/10.31649/1997-9266-2023-168-3-84-89

Keywords:

walking mobile robot, work algorithm, block diagram, mathematical model for determining position in space, geometric center of body mass, limb position, automation, triangle method

Abstract

The article presents an algorithm for determining the position of the limbs of a walking mobile robot (MR) in space, based on a method previously developed by the authors, which is a finite set of triangles for representing each joint of a limb of a walking mobile robot. The proposed algorithm has a linear structure without branches for the step-by-step execution of a certain sequence of actions that allow determining the spatial position of the limbs of a walking MR. The operation of the algorithm is considered on the example of an abstract model of a six-legged walking MR with the same design of three-hinged limbs and a body in the shape of a regular hexagon. This algorithm allows you to automatically calculate and graphically display the position of the MR’s limb in space. The practical implementation of the proposed algorithm is provided in specialized software.

The relevance and importance of the proposed algorithm is determined by the lack of articles and publications in this direction. Known scientific works in most cases are devoted only to solving problems of kinematics and dynamics of walking MRs and building their kinematic models. At the same time, it is necessary to note the lack of a systematic approach to algorithmization and automation of determining the position of the limbs of walking MRs in space, which limits their practical use in real conditions. In this regard, it is assumed that the proposed algorithm for determining the position of the limbs of a walking MR will partially solve this problem, which will contribute to the introduction of MR into various areas of human activity.

The obvious advantages of the proposed algorithm are linearity, simplicity, unbranched structure, its clarity, and ease of software implementation. Application of the algorithm makes it possible to increase productivity and reduce the labor-intensiveness of actions performed when solving the problem of determining the positions of the limbs of walking MRs in space, reducing the time of performed operations and reducing the intellectual load on developers.

Author Biographies

Yu. Yu. Khazanovych, National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”

Post-Graduate Student of the Chair of Automation and Non-destructive Testing Systems

I. Yu. Cherepanska, National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”

Dr. Sc. (Eng.), Professor, Professor of the Chair of Automation and Non-destructive Testing Systems

Yu. V. Kirychuk, National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”

Dr. Sc. (Eng.), Professor, Head of the Chair of Automation and Non-destructive Testing Systems

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Published

2023-07-26

How to Cite

[1]
Y. Y. Khazanovych, I. Y. Cherepanska, and Y. V. Kirychuk, “Algorithm of Determining the Position of the Extremities of a Stepping Mobile Robot in Space”, Вісник ВПІ, no. 3, pp. 84–89, Jul. 2023.

Issue

No. 3 (2023)

Section

Mechanical engineering and transport

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