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Дисертація присвячена вирішенню важливої науково-практичної проблеми – розробці методології синтезу мобільних роботів довільної орієнтації (РДО) у технологічному просторі з системами втримання мобільних роботів на поверхні переміщення для компенсації гравітаційного та технологічного навантаження. Запропонована методологія автоматизованого синтезу мобільних роботів довільної орієнтації у технологічному просторі базується на трьох основоположних принципах: 1) нагромадження потенціальної енергії переміщення й перетворення її в кінетичну енергію руху робота; 2) інтеграції приводів поздовжнього й вертикального переміщення; 3) застосування аеродинамічної піднімальної сили як засобу протидії гравітаційному навантаженню на робот. На основі розробленої методології автоматизованого керування синтезом мобільних роботів створені нові модифікації мобільних засобів в галузі робототехніки. Проведені експериментальні дослідження керування технологічними режимами аеродинамічної піднімальної сили як засобу протидії гравітаційному навантаженню, підтверджують доцільність технічних розв'язок мобільних РДО з метою збільшення їх технологічного навантаження. The dissertation is devoted to solving an important scientific and practical problem – the development of a methodology for controlling the synthesis process of mobile robots of arbitrary orientation in the technological space with systems for holding mobile robots on the surface of moving to compensate for the gravitational load. The soluti on to this problem is aimed at creating a new means of production – a variety of robotics in the form of mobile robots of arbitrary orientation, which takes into account the needs of society, the level of its socio-economic, scientific and technological development in modern production. Studies are devoted to solving the problem of excluding human labor from the sphere of servicing high-rise facilities at industrial and municipal facilities and providing a person with remote automatic control functions. Mobile robots of arbitrary orientation in the technological space, also known as robots with vertical movement, and in international publications under the name Climber Robot are a new modification of mobile robots equipped with tools to hold the robot on a surface of arbitrary orientation relative to the horizon of the technological space. The creation of this type of robotics is at the initial stage and is dictated by the need for technological operations in such areas as monitoring of industrial facilities, installation anddismantling of building structures, repair and preventive maintenance of their components, maintenance of high-rise buildings of public utilities, forest and parklands, etc. n. The problem of using mobile robots is especially relevant in the extreme conditions oftechnological disasters in which human work is dangerous and even unacceptable to humans. The methodology for managing the synthesis of mobile robots in the technological space is based on three fundamental principles: 1) the accumulation of potential displacement energy and its conversion into kinetic energy of robot movement; 2) integration of drives of longitudinal and vertical movement, as well as drives of changing the orientation of the robot along a given route; 3) the use of aerodynamic lifting force as a means of counteracting the gravitational load in order to increase the technological load while reducing the power of the drive drives and the adhesion of the robot to the displacement surface. The indicated directions in world theory and practice of the experimental construction of mobile robots have not yet been investigated. Based on the developed methodology for managing the synthesis of mobile robots, new modifications of mobile robots have been created. The proposed technical solutions allow robots to move along surfaces of arbitrary orientation in various coordinate systems with an arbitrary topology of the surfaces of movement of the robot. The experimental studies of the control of aerodynamic lift regimes as a means of counteracting the gravitational load confirm the feasibility of using the developed technical solutions ofmobile robots. As a result of setting up a full factorial experiment, a regression and analytical model of the relationship between the values of the aerodynamic lift and the operating modes of the jet thrust generator, namely, the number and diameter of nozzles, as well asthe pressure of the compressed air outflow from the generator nozzles, was obtained. The indicated dependences make it possible to determine the quasi -optimal values of thecontrol modes of the aerodynamic thrust generator. Also, dynamic modeling of themovement of mobile robots on surfaces of arbitrary orientation and different topology has been carried out. The obtained analytical dependences make it possible to calculate the ultimate technological load of the robot and the allowable weight of the robot. Thesedependencies formed the basis for the developed engineering techniques for designing functional devices and drives of mobile robots. These engineering methods for calculating the parameters of mobile robots are automated based on CAE technologies for computeraided design systems. Special programs have been created that allow one to calculate the quasi-optimal values of the modes of operation of mobile robots of arbitrary orientation in the technological space. As a result of theoretical and experimental studies, a synthesis of fundamentally new designs of mobile robots for the maintenance of high-rise industrial and agricultural facilities was carried out. New models of mobile robots allow performing not only monitoring operations of the specified objects, but also power technological operations. Such mobile robots make it possible to exclude the presence of a person in hazardous areas for performing various production operations and to hand over to the operator only the functions of controlling the robots, which is especially important for the conditions of man-made disasters. The implementation of these modifications helps to reduce the total power of the drives and increase the reliability of the retention of robots on a surfa ce of arbitrary orientation in the technological space. |
