Mikhail Polishchuk

Work place: Dept. of Technical Cybernetics, Igor Sikorsky Kyiv Polytechnic Institute, Kyiv 03056, Ukraine

E-mail: borchiv@ukr.net


Research Interests: Robotics


Mikhail Polishchuk is working as an Associate Professor at the Department of Technical Cybernetics Igor Sikorsky Kyiv Polytechnic Institute, Kyiv, Ukraine. He holds a scientific degree of Candidate of Technical Sciences. His fields of scientific interests are industrial robotics, automation of technological processes in the field of machine building and instrument making. He is the author/co-author of 6 monographs in the field of flexible production systems using robots

Author Articles
Walking Mobile Robot of Arbitrary Orientation

By Mikhail Polishchuk Mark Opashnianskyi Nikita Suyazov

DOI: https://doi.org/10.5815/ijem.2018.03.01, Pub. Date: 8 May 2018

The article describes the device and the mathematical model of a walking mobile robot of a fundamentally new construction. The difference between this technical solution is the ability to move the robot on surfaces of arbitrary orientation in different coordinate systems: rectangular Cartesian, cylindrical and spherical. In the proposed design, the walking robot mechanism is made in the form of flexible pedipulators and allows the mobile to perform transitions on surfaces that have an arbitrary orientation at different angles to the horizon. The technique for calculating the construction parameters of the walking robot mechanism and the trajectories of the robot legs bending is given. This walking robot is designed to perform technological operations in extreme conditions.

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