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Information × Registration Number 0225U002643, (0122U000526) , R & D reports Title Substantiation of the main provisions of the theory of design of ground-based robotic complexes for special purposes popup.stage_title Обґрунтування основних положень теорії проектування наземних робототехнічних комплексів спеціального призначення. Head Strutynskyi Vasyl В., Доктор технічних наук Registration Date 25-03-2025 Organization National Technical University of Ukraine "Igor Sikorsky Kyiv Polytechnic Institute" popup.description1 Development of the main provisions of the theory of design of ground-based robotic complexes for special purposes. popup.description2 The fundamental principles of the design theory for ground-based robotic systems for special purposes have been developed. In particular, innovative design solutions for manipulators with an extended service zone of 8–12 meters in diameter have been proposed. The manipulators are implemented based on truss-like structures made of advanced reinforced (woven) composite materials combined with cable systems consisting of small-diameter metal cables and high-strength Kevlar fiber cables. The manipulator drive systems incorporate high-tech static and dynamic cable mechanisms. The manipulator arms are connected by specially designed joints. Their design solutions are based on the use of precision rolling bearings integrated with the cable mechanisms of the drive system. A universal base joint unit has been developed, mounted on the chassis of the ground robotic system. Additionally, a joint connecting the arms is integrated with an arm-balancing mechanism, and a specialized joint is designed for installing the end-effector. The end-effector is constructed based on the design of a hexapod mechanism, providing six degrees of freedom. A tactile device, shaped as a triangular pyramid with precision spheres at its vertices, is mounted on the output link of the hexapod mechanism. One of these spheres is movable and features specialized cable-driven actuators for positioning. Overall, the manipulator has five primary degrees of freedom and seven additional degrees of freedom in the end-effector. About ten different object search methods have been implemented, including optical, tactile, acoustic, thermographic, chemical, engineering-physical (metal detector), and other techniques for detecting hazardous objects. Design methods for the main chassis components and drives of ground robotic systems have been proposed. An effective component base has been recommended, along with innovative solutions for power and service mechanisms, complete drive systems, and mechatronic modules. Product Description popup.authors BESARABETsЬ Yurii Y. HOLЬTsOV Bohdan -. HONChARENKO Vladyslav -. ZhABROVETsЬ Oleh -. ZALEVSЬKA Sofiia -. KAMENYeV Pavlo -. KOKhNO Vladyslav -. KRAVETsЬ Oleksandr M. MAYDANYuK Serhii V. NOHA Ivan -. PAVLUN Viktoriia -. PARNENKO Valeriia S. PETRYShYN Andrii I. PLIVAK Oleksandr A. PRYYMAK Pavlo -. PROTsENKO Pavlo Yu. SEREDA Bohdan -. YuRChYShYN Oksana Ya. popup.nrat_date 2025-03-25 Close