Polishchuk M. Automated synthesis of mobile robots of arbitrary orientation in the technological space

The dissertation is devoted to solving an important scientific and practical problem – the development of a methodology for controlling the synthesis process of mobile robots of arbitrary orientation in the technological space with systems for holding mobile robots on the surface of moving to compensate for the gravitational load. The solution to this problem is aimed at creating a new means of production – a variety of robotics in the form of mobile robots of arbitrary orientation, which takes into account the needs of society, the level of its socio-economic, scientific and technological development in modern production. Studies are devoted to solving the problem of excluding human labor from the sphere of servicing high-rise facilities at industrial and municipal facilities and providing a person with remote automatic control functions. As a result of theoretical and experimental studies, a synthesis of fundamentally new designs of mobile robots for the maintenance of high-rise industrial and agricultural facilities was carried out. New models of mobile robots allow performing not only monitoring operations of the specified objects, but also power technological operations. Such mobile robots make it possible to exclude the presence of a person in hazardous areas for performing various production operations and to hand over to the operator only the functions of controlling the robots, which is especially important for the conditions of man-made disasters. The implementation of these modifications helps to reduce the total power of the drives and increase the reliability of the retention of robots on a surface of arbitrary orientation in the technological space. Key words: structural-parametric synthesis, mobile robots, climbing robots, automated control, walking mechanisms