izvestswsuИзвестия Юго-Западного государственного университетаProceedings of the Southwest State University2223-15602686-6757ЮЗГУ10.21869/2223-1560-2021-25-3-120-135izvestswsu-928Research ArticleИнформатика, вычислительная техника и управлениеComputer science, computer engineering and IT managmentВыбор кинематической структуры модульной робототехнической системы в зависимости от типа поверхности передвиженияChoice of Kinematic Structure of Modular Robotic System Depending on the Type of Motion SurfaceСавельевА. И.SavelievА. I.

Савельев Антон Игоревич, старший научный сотрудник, руководитель лаборатории автономных робототехнических систем

14 линия В.О., д. 39, г. Санкт-Петербург 199178

Anton I. Saveliev, Senior Researcher and Head of Laboratory of Laboratory of Autonomous Robotic Systems

39, 14th Line, St. Petersburg 199178

saveliev@iias.spb.suБлиновД. В.BlinovD. V.

Блинов Дмитрий Владимирович, магистр

ул. Б. Морская, д. 67, г. Санкт-Петербург 190121

Dmitriy V. Blinov, Master Student

Bolshaya Morskaya 67, St. Petersburg 190121

d99b09@yandex.ruЕрашовА. А.ErashovА. А.

Ерашов Алексей Алексеевич, младший научный сотрудник лаборатории технологий больших данных социокиберфизических систем

14 линия В.О., д. 39, г. Санкт-Петербург 199178

Aleksei A. Erashov, Junior Researcher of Laboratory of Big Data Technologies in Socio-Cyberphysical Systems

39, 14th Line, St. Petersburg 199178

erashov.a@iias.spb.suСанкт-Петербургский Федеральный исследовательский центр Российской академии наук; Санкт-Петербургский институт информатики и автоматизации Российской академии наукSt. Petersburg Federal Research Center of the Russian Academy of Sciences (SPC RAS); St. Petersburg Institute for Informatics and Automation of the Russian Academy of SciencesСанкт-Петербургский государственный университет аэрокосмического приборостроенияSt. Petersburg State University of Aerospace Instrumentation202129012022253120135Copyright © Савельев А.И., Блинов Д.В., Ерашов А.А., 20222022Савельев А.И., Блинов Д.В., Ерашов А.А.Saveliev А.I., Blinov D.V., Erashov А.А.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://izvestswsu.elpub.ru/jour/article/view/928

Цель исследования. Цель настоящей работы заключается в выявлении преимуществ и недостатков различных кинематических структур (формаций) самореконфигурируемых модульных робототехнических систем в зависимости от типа поверхности, по которой в основном должна перемещаться данная система.Методы. В работе проведен анализ кинематических структур модульных робототехнических систем относительно их возможностей перемещения, выделены особенности перемещения данных формаций по различным поверхностям, а также особенности применения некоторых формаций. Проведено исследование функциональных возможностей собственной мобильной автономной реконфигурируемой системы на основе рассмотренных формаций.Результаты. По результатам проведенного исследования были выделены основные структуры модульных робототехнических систем, среди которых наиболее популярными на сегодняшний день являются формации, имеющие цепную архитектуру: «змея», «манипулятор»; «шагающие» структуры: «квадропод», «паук», «сороконожка», а также мобильные структуры «машина», «колесо» и «шар». На основе проведенного анализа были разработаны структуры для собственной модульной робототех-нической системы. При разработке структур были учтены геометрические особенности и кинемати-ческие ограничения ее модулей.Заключение. Применение результатов анализа позволит лучше адаптировать модульную самореконфигурируемую робототехническую систему к поверхности, по которой перемещается данная система. На выбор той или иной формации модульной системы также оказывает влияние необходимая скорость перемещения по данной поверхности. Наибольшей адаптивностью к различным типам поверхностей обладают шагающие формации, однако они же являются наиболее сложными с точки зрения разработки системы управления

Purpose of research. The purpose of this study is to identify the advantages and disadvantages of various kinematic structures (formations) of self-reconfigurable modular robotic systems depending on the type of surface over which the system is mainly to be moved.Methods. Analysis of kinematic structures of modular robotic systems with respect to their displacement capabilities was carried out. Features of movement of these formations on different surfaces, as well as features of application of some formations are highlighted. A study of functionality of its own mobile autonomous reconfigurable system was carried out on the basis of described formations.Results. According to the results of the study, the main structures of modular robotic systems were identified, among which the most popular are formations that have a chain architecture: "snake," "manipulator"; "walking" structures: "quadropod," "spider," "centipede," as well as mobile structures "machine," "wheel" and "ball." Based on the conducted analysis, structures were developed for their own modular robotics system. Geometric features and kinematic limitations of its modules were considered in developing the structuresConclusion. The use of the analysis results will allow better adaptation of a modular self-reconfigurable robotic system to the surface on which this system moves. The selection of a particular formation of the modular system is also influenced by the required speed of movement over a given surface. Walking formations have the greatest adaptability to various types of surfaces, but they are also the most difficult from the point of view of control system developing.

модульная робототехникамодульные робототехнические системысамореконфи- гурируемые модульные роботыавтономные роботыкинематические структуры модульных роботовреконфигурация.modular roboticsmodular robotic systemsself-reconfigurable modular robotsautonomous robotskinematic structures of modular robotsreconfigurationработа выполнена при поддержке РФФИ № 20-08-01109_А.The work was carried out with the support of RFPI No. 20-08-01109_A.ReferencesFormation of modular structures with mobile autonomous reconfigurable system / N. Pavliuk, A. Saveliev, E. Cherskikh, D. Pykhov // Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”. Springer, Singapore, 2020. З. 383-395. https://doi.org/10.1007/978-981-13-9267-2_31.Pavliuk N., Saveliev A., Cherskikh E., Pykhov D. Formation of modular structures with mobile autonomous reconfigurable system. 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The authors declare that there are no conflicts of interest present.