Machinery & Energetics

New constructions of mobile robots of arbitrary orientation are proposed. Described are patented devices and mathematical models of robots. The difference between robot designs is the ability to move the robot through surfaces of arbitrary orientation in different coordinate systems. The proposed technical solutions are based on the principles of accumulation and conversion of energy of motion and integration of drives for moving the robot in the technological space. These principles of the synthesis of mobile robots can reduce their overall weight and ensure the universality of their applicability to different coordinate systems, where the orientation of actual objects of service, from trees to fruit and berry crops, is not determined a priori.

mobile robots, walking mechanisms, robots of vertical movement, pedipulators