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Title: Mobile robotic systems with walking movers and mechanisms of orientation
Authors: Korendiy, Vitaliy
Bushko, Oleksandr
Denderys, Nazar
Affiliation: Lviv Polytechnic National University
Bibliographic description (Ukraine): Korendiy V. Mobile robotic systems with walking movers and mechanisms of orientation / Vitaliy Korendiy, Oleksandr Bushko, Nazar Denderys // Litteris et Artibus : proceedings of the 5th International youth science forum, November 26–28, 2015, Lviv, Ukraine / Lviv Polytechnic National University. – Lviv : Lviv Polytechnic Publishing House, 2015. – P. 318–319. – Bibliography: 4 titles.
Conference/Event: Litteris et Artibus
Issue Date: 2015
Publisher: Lviv Polytechnic Publishing House
Country (code): UA
Place of the edition/event: Lviv
Keywords: mobile robotic system
walking mover
mechanism of orientation
principal diagram
operation features
motion parameters
mechanical trajectory of the pivot foot
Number of pages: 318-319
Abstract: The expediency and areas of use of walking machines are substantiated. Three simplest diagrams of cyclic (lever) walking mechanisms (four-link, four-link with possibility of changing the position of the rocker arm rotation axis, six-link) are considered. Principal diagram of the lever mechanism of orientation of walking module with two cyclic movers is propounded and its operating features are analyzed.
References (International): [1] Pavlovskij V. E. “O razrabotkah shagajushhih mashin” [“About the developments of walking machines”]. Preprinty Institutu prikladnoj matematiki imeni M. V. Keldysha RAN, 2013, № 101, 32 p. [2] Ohocimskij D. E., Golubev Ju. F. “Mehanika i upravlenie dvizheniem avtomaticheskogo shagajushhego apparata” [“Mechanics and Motion Control of automatic walking apparatus”]. Moskva, Nauka, 1984, 310 p. [3] Briskin E. S., Zhoga V. V., Chernyshev V. V., Maloletov A. V. “Dinamika i upravlenie dvizheniem shagajushhih mashin s ciklovymi dvizhiteljami” [“Dynamics and motion control of walking machines with cycle movers”]. Moskva: Mashinostroenie, 2009, 191 p. [4] Korendii V., Bushko O., Ivanus N. “Strukturnyi i kinematychnyi analiz tsyklovykh krokuiuchykh rushiiv mobilnykh robotomekhanichnykh system” [“Structural and kinematic analysis of cyclic walking drivers of mobile robotic systems”]. Proceedings of the XII International Ukrainian Mechanical Engineers Symposium in Lviv held from 28-29 May 2015, pp. 70-71.
Content type: Conference Abstract
Appears in Collections:Litteris et Artibus. – 2015 р.

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