Mathematical Model and Design of the Mobile Robot with Propellers Which Working on the Periodic Jamming Effect

We consider a robot moving along a horizontally or inclined located rod. The potential use of the robot is possible for moving along extended rod structures (pipes, ropes, power lines). The design includes two bushings, one of which, due to frictional forces as a result of jamming, wraps around the rod and is held on it, while the other one moves freely. When mobile robot moving along a horizontally located rod occurs design adds two servo drives and additional weights which servo drives turns, under the action of the weight and the friction force between the supporting element and the guide the bushing jams, while the other is able to move freely along it. When moving along an inclined guide there is no need for additional weights, the engagement with the supporting surface is due to friction forces and the force acting from the linear actuator. The principle of operation of the propeller is based on the effect of periodic jamming. A mathematical model has been developed. Obtained dependencies which are necessary to determine the robot design features. A 3d model of a mobile robot with propulsion devices operating on the effect of periodic jamming has been developed, on it basis has been assembled the test stand.