• TITLE: MOBILE CLIMBING ROBOTS WITH ENERGY ACCUMULATORS
• AUTHOR(S): Y. Kuznetsov, M. Polishchuk
• ABSTRACT: The article proposes fundamentally new designs of mobile robots of arbitrary orientation in the technological space. The analysis of existing systems of mobile robots of arbitrary orientation is presented. An analysis is made of the methods of coupling robots to a surface of arbitrary orientation when performing technological operations. The difference between the proposed robot designs consists in the presence of energy accumulators that allow accumulating the potential energy at each previous step of the motion and transforming it into kinetic energy of motion at the next step of displacement. Two types of batteries are proposed: in the form of mechanical springs and compressed gas. Mathematical models of functioning of energy accumulators and calculation of their parameters are given. The results of modeling the operation of energy accumulators in the form of graphical and analytical dependences are given. Recommendations for improving the design of mobile robots are suggested.
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