THE CONCEPT OF A CONTROLLED, AUTOMATED STEPPING PLATFORM WITH FOUR LIMBS

摘要

In this article the concept of building stepping platforms with four limbs is proposed. Such platforms can be used during military, industrial, construction, search and rescue operations. As the existing developments are quite promising, each existing prototype, which has confirmed its effectiveness, is used for further modernization or development of standard structures. Most often, most of the walking platforms used have six moving limbs, the so-called hexapods, the article will focus on a design that uses four moving limbs, which reduces the cost of manufacturing such platforms, and regardless of size, power and scope.The peculiarity of this type of walking robots is the complexity of building and correct selection of components, their characteristics, location, control algorithms and the like. Despite the existing samples from such well-known companies as Boston Dynamics, Mechanized Propulsion Systems, there is no single concept of creating walking platforms, so the purpose of this work is an attempt to combine into a single concept of the most effective and generally available methods for creating walking controlled automated platforms with four limbs.The article describes the necessary conservative elements that are used to build a simple walking robot, namely, drives, elements of moving supports, computing core, sensitive elements. Arrangements of elements for more stable construction are shown. As a result, using the developed concept, it is proposed to build an quadropod for further experimental studies, which will confirm the effectiveness and reliability of the proposed concept. It should also be noted that the work deals with issues related only to the mechanical part of the structure, and the question of control algorithms, features of their programming, reception and processing of control signals, the question of energy consumption, etc. will be considered in subsequent papers