MECHANICS OF CRAWLING ROBOT WITH SLIDING SEAL

Mechanical model of miniature robot with sliding seal is considered. Robot moves along the incline plane surface. Conditions of motion without sliding of the wheels are derived. These conditions are assigned design of control system of the robot. Suggested method of motion control is based on the combination control by the vacuum pump module providing pressing force and driving wheels module providing translation motion and rotation of the robot. The motion conditions without sliping and oscillations were established depends on the structure of robot's coupling mechanism contacted with surface.