On Energy Efficient Regimes of Robot Motion with Rotary-Wedging Propulsion Devices

Abstract

Rotary-wedging propulsion device are considering. The peculiarities of dynamics and control main module such propulsion devices have been analyzed. These peculiarities are manifesting in environmental, energy efficiency, possibility. The problem of determination of parameters and schedule of motion, providing the minimum energy consumption has been set. The authors consider a mechanical system consisting of a rod of variable length, at the initial time occupying a certain position. The movement of the rod to a new position is carried out by successively changing the length of the rod from the initial to the intermediate, turning about the axis by a certain angle, and extending the rod from the intermediate to the final value. The weight of the robot is concentrated on the movable end of the boom at a point. To solve the problem, specify the total movement time and schedule drives. Method of solution based on the requirement of a minimum of functionality based on the equations of motion at each stage, with subsequent determination of the parameters. These parameters are depended on geometric features of environment. The equations, providing the solving the task have been obtained.