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Information × Registration Number 0222U001369, 0119U100709 , R & D reports Title Development of the main provisions for the design of special robot mobile robot manipulators adapted for handling hazardous objects popup.stage_title Head Strutinsky Vasyl B., Доктор технічних наук Registration Date 26-01-2022 Organization National Technical University of Ukraine "Igor Sikorsky Kyiv Polytechnic Institute" popup.description2  The main part of the scientific and technical problem, which is important for Ukraine's defense capabilities and consists in the creation of mobile robots for special purposes, has been solved. The problem is to gain new knowledge to create effective mobile robots (ground-based robotic complexes) of special purpose adapted to work with dangerous objects (Resolution of the Cabinet of Ministers of Ukraine of 30.03.2016 №284-6). The concept of development of the theory of design of manipulators of mobile robots on the basis of the put forward idea of ​​division of processes into two heterogeneous groups - macroprocesses and microprocesses is developed. The proposed idea makes it possible to divide the phenomena that accompany the work of mobile robot manipulators on the degree of importance in relation to the tasks performed. Significant improvement of static and dynamic accuracy of manipulators is substantiated taking into account characteristics of dangerous objects, influence of various road conditions and dynamic processes of casual character which take place in manipulators of mobile robots. A number of effective methods for studying the accuracy of manipulators taking into account stochastic changes in parameters have been developed. Considerable attention is paid to the issues of statics, kinematics and dynamics of multi-coordinate manipulators of various types, both stationary and mobile. Dynamic loads for mobile works at single and batch impulse loads are determined. The considered processes are caused by subsidence of the soil and the factors determining the survivability of mobile robots under the action of shock loads. Peculiarities of caterpillar propulsion work processes are established and recommendations on compensation of negative influence of chassis drives on indicators of dynamic accuracy and efficiency of mobile robot manipulators are given. Product Description popup.authors Kostrytsia Serhii M. Kravets Volodymyr O. Kravets Oleksandr M. Nochnichenko Ihor V. Parnenko Valeriia S. Rodin Rodion P. Semenchuk Roman V. Yurchyshyn Oksana Ya. popup.nrat_date 2022-03-09 Close