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IssuesArchive of Issues2018-2pp.228-233

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V.G. Chashchukhin, "On the Static Equilibrium of a Multi-Legged Robot on a Rough Surface in Zero-Gravity Conditions," Mech. Solids. 53 (2), 228-233 (2018)
Year 2018 Volume 53 Number 2 Pages 228-233
DOI 10.3103/S0025654418020140
Title On the Static Equilibrium of a Multi-Legged Robot on a Rough Surface in Zero-Gravity Conditions
Author(s) V.G. Chashchukhin (Ishlinsky Institute for Problems in Mechanics of the Russian Academy of Sciences, pr. Vernadskogo 101, str. 1, Moscow, 119526 Russia, ketlk@mail.ru)
Abstract The problem of the equilibrium of a multi-legged robot in zero-gravity is investigated. The robot has several points of support and is located on a flat rough surface. The influence of an arbitrarily directed force applied to the center of mass of a robot on its equilibrium is considered.
Keywords space robot, balance, weightlessness
References
1.  N. N. Bolotnik, V. G. Chashchukhin, V. G. Gradetsky, et al., "Design of Mobile Microrobots with Thermomechanical Actuators," in Proc. 12th Int. Conf. "Informatics in Control, Automation, and Robotics" (ICINCO 2015). Colmar. France (2015), pp. 252-258.
2.  F. L. Chernous'ko, N. N. Bolotnik, V. G. Gradetsky, et al., "Mobile Micro-Robot," RF Patent No. 154 708 (January 27, 2015; Published on September 10, 2015), Bulletin No. 25.
3.  V. G. Gradetsky, M. M. Knyazkov, L. F. Fomin, and V. G. Chashchukhin, Mechanics of Miniature Robots (Nauka, Moscow, 2010) [in Russian].
4.  A. A. Zhukov, I. P. Smirnov, A. S. Kopukhin, et al. "Thermomechanical Actuator and Method of Its Manufacture," RF Patent No. 2 448 896 (March 25, 2010; Published on April 27, 2012), Bulletin No. 12.
5.  F. L. Chernousko, "Equilibrium Condition for Solid on a Rough Plane," Izv. Akad Nauk SSSR. Mekh. Tverd. Tela, No. 6, 6-17 (1988) [Mech. Solids (Engl. Transl.) 23 (6), 1-12 (1988)].
Received 25 November 2016
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