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DOI: 10.15507/2658-4123.031.202101.080-096
Modeling Movement of Supports of Walking Machines with Dynamic Stability by Using a Stand
Yury G. Aleynikov
Doctoral Candidate in the Chair of Tractors and Automobiles, Russian Timiryazev State Agrarian University (49 Timiryazevskaya St., Moscow 127550, Russian Federation), Cand. Sc. (Engineering), Researcher ID: AAS-2070-2020, ORCID: https://orcid.org/0000-0001-6586-9741, This email address is being protected from spambots. You need JavaScript enabled to view it.
Otari N. Didmanidze
Head of the Chair of Tractors and Automobiles, Russian Timiryazev State Agrarian University (49 Timiryazevskaya St., Moscow 127550, Russian Federation), Academician of RAS, D.Sc. (Engineering), Professor, ORCID: https://orcid.org/0000-0003-2558-0585, This email address is being protected from spambots. You need JavaScript enabled to view it.
Introduction. Walking machines have been interesting for decades. Modern technologies make it possible to create new designs with digital control. Creating software that allows a walking machine to move independently is a difficult task. Walking machine onboard computer needs to process data from sensors in real time. The article demonstrates design and algorithms used to control the motion of an experimental walking machine.
Materials and Methods. To simulate the motion of a walking machine and experimental studies, a stand replicating all the electronic systems of the machine was made. The order of rearrangement of the supports during the motion and the trajectory of the support movement are shown. The design of sensors and their principle of operation are considered. The simulation bench with a description of its electronic components is demonstrated.
Results. The optimal parameters of the support motion are determined. A cyclic algorithm for specifying the motion of a support along a trajectory consisting of rectilinear segments is described. The problem of synchronization of motion of a set of supports using multithreaded asynchronous programming adapted for multidimensional processors has been solved. The process of lowering the support to the surface and the response of the cyclic algorithm to changes in the shock and load sensor readings are simulated.
Discussion and Conclusion. An algorithm for propulsion with reaction to changes in sensor readings has been developed. The conducted research allowed us to obtain an optimal algorithmic model of motion, to which it is easy to add new reactions of the automatic motion control system based on sensor readings.
Keywords: walking machine, walking machine sensors, motion control algorithms, support trajectory, walking machine electronics, microcontrollers, sensors
Conflict of interest: The authors declare no conflict of interest.
For citation: Aleynikov Yu.G., Didmanidze O.N. Modeling Movement of Supports of Walking Machines with Dynamic Stability by Using a Stand. Inzhenerernyye tekhnologii i sistemy = Engineering Technologies and Systems. 2021; 31(1):080-096. DOI: https://doi.org/10.15507/2658-4123.031.202101.080-096
Contribution of the authors:
Yu. G. Aleynikov – idea, justification of the goal and objectives, design and manufacturing of the test bench, conducting laboratory tests.
O. N. Didmanidze – scientific guidance, advice, analysis and revision of the text.
All authors have read and approved the final manuscript.
Submitted 09.10.2020; approved after reviewing 20.12.2020;
accepted for publication 15.01.2021
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