Перегляд за Автор "Lobur, Mykhaylo"

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    The Pushing Mechanism Design of Jumping Robot
    (Igor Sikorsky Kyiv Polytechnic Institute, 2024) Zinko, Roman; Lobur, Mykhaylo; Zdobytskyi, Andriy; Stefanovych, Tetyana
    In areas hazardous for humans, jumping robots serve as substitutes. They exhibit enhanced mobility when traversing uneven or rugged terrain, significantly broadening the application potential of mobile devices for territory surveillance, environmental monitoring after earthquakes, and other emergency situations where robot movement relies solely on jumping. Various design solutions for performing jumps are known, each with its own advantages, disadvantages, and implementation based on specific structural elements. To propel robots off the ground, different actuators can be used: spring-based mechanisms (with or without additional kinematic links), pneumatic or hydraulic systems, and those powered by fuel-air mixtures. Spring-based impact systems execute jumps by converting the potential energy stored in the spring into the kinetic energy of the robot's body. The objective of the research is to justify the feasibility of developing cam mechanisms for jumping robots, taking into account the direction of their jumps in accordance with the distribution of forces and applied loads. The methodology involved determining the impact force of the hammer in the cam mechanism under static loading. A calculation method for the parameters of the impact system was developed. Computer modeling of the spring compression phase using a lever device was conducted. The structural and technological parameters of the robot were substantiated, considering its mass, spring stiffness, impact system, and the cam profile, using Autodesk Inventor software. Calculations of forces, power, and design parameters of the impact system were presented, along with a detailed analysis of all phases of the jumping process. These phases include spring compression using a lever device, removal of the compression device, spring release, and the final ballistic phase (flight phase). The methodology allowed for determining the design parameters of the cam mechanism based on specified kinematic and dynamic parameters of the jumping process.