Mobile robots for fruit and vegetable farms

Authors

  • Yu. N. Kuznetsov , Національний технічний університет України «Київський політехнічний інститут імені Ігоря Сікорського»,
  • M. N. Polishchuk , Національний технічний університет України «Київський політехнічний інститут імені Ігоря Сікорського»,

Abstract

Abstract. New constructions of mobile robots of arbitrary orientation are proposed. Described are patented devices and mathematical models of robots. The difference between robot designs is the ability to move the robot through surfaces of arbitrary orientation in different coordinate systems. The proposed technical solutions are based on the principles of accumulation and conversion of energy of motion and integration of drives for moving the robot in the technological space. These principles of the synthesis of mobile robots can reduce their overall weight and ensure the universality of their applicability to different coordinate systems, where the orientation of actual objects of service, from trees to fruit and berry crops, is not determined a priori.
Key words: mobile robots, walking mechanisms, robots of vertical movement, pedipulators.

References

Кузнецов Ю. Н. Вызовы четвертой промышленной революции «?ндустрия 4.0» перед учеными Украины. Вестник ХНТУ, Херсон, №2 (61), 2017. С. 67−75.

Developments in wall climbing robots: a review. International journal of engineering research and general science. Volume 2, issue 3, April-May 2014. P. 37.

Tin Lun Lam, Yangsheng Xu. Tree Climbing Robot: Design, Kinematics and Motion Planning. Springer Heidelberg. New York. 2012. P. 37–46.

Saundersa A., Goldmanb D.I, Fullb R.J. and Buehlera M. The RiSE Climbing Robot: Body and Leg Design. Boston Dynamics, Unmanned Systems Technology VIII. Proc. of SPIE. 2005. P. 13.

Yampolskiy L., Polishchuk M. and Persikov V. Method and Device for Movement of Pedipulators of Walking Robot. Patent UA 111021. 2016.

Заявка № а201807976 на видачу патенту України UA МПК B62D 57/032. Крокуючий мобільний робот Кузнєцова – Поліщука; заявлено 18.07.2018. Київ. Укрпатент, 2018. 25 с.

Polishchuk Mikhail, Opashnianskyi Mark, Suyazov Nikita. Walking Mobile Robot of Arbitrary Orientation. International Journal of Engineering and Manufacturing, 2018, Vol. 8, No 3. P. 1–11.

References

Kuznetsov, Y. N. (2017). The challenges of the fourth industrial revolution "Industry 4.0", the scientists of Ukraine. Bulletin of KnTU. Kherson. No 2 (61), 67-75.

Developments in wall climbing robots: a review. (2014). International journal of engineering research and general science. Volume 2, issue 3, April-May 37.

Tin Lun Lam, Yangsheng Xu. (2012). Tree Climbing Robot: Design, Kinematics and Motion Planning. Springer Heidelberg. New York. 37-46.

Saundersa, A., Goldmanb, D.I, Fullb, R.J. and Buehlera, M. (2005). The RiSE Climbing Robot: Body and Leg Design. Boston Dynamics, Unmanned Systems Technology VIII. Proc. of SPIE. 13.

Yampolskiy, L., Polishchuk, M., Persikov, V. (2016). Method and Device for Movement of Pedipulators of Walking Robot. Patent UA 111021.

Application. (2018). No. а201807976 for a patent of Ukraine EN IPC B62D 57/032. Walking mobile robot Kuznetsov – Polishchuk declared 18.07.2018. Kiev. Ukrpatent, 25.

Polishchuk, Mikhail, Opashnianskyi, Mark, Suyazov, Nikita. (2018). Walking Mobile Robot of Arbitrary Orientation. International Journal of Engineering and Manufacturing, Vol. 8, No 3. 1-11.

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Published

2019-01-24

Issue

Vol. 9 No. 3 (2018)

Section

Статті

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