The study of special positions of a crawling robot when changing its configuration

摘要

Abstract The paper considers the movement of a crawling robot, consisting of three modules, along a horizontal rough surface when changing its configuration. The fundamental characteristic of the research object is its equipping with support elements with a controlled coefficient of friction, due to which the movement along the plane can occur with the periodic fixation of two supports on the surface, which makes the device more maneuverable and high-speed. Another feature of the proposed construction is the controlled length of each module due to the prismatic pairs. This allows the robot to adapt to space limitations, such as corridors, obstacles, etc. The paper proposes a system for controlling the lengths of the robot modules, as well as the angles of their rotation when moving while fixing on the surface the two extreme supports of the side links. This system is sequential, first the central module is controlled, then one of the side modules, and only after that the second side module. Transitions from one control stage to another are carried out when the module length reaches its maximum permissible value. The paper analyzes the operation of the control system, and also examines in detail the issue of the robot transition to special positions.