SIMULATION OF THE ELECTRIC FIELD STRENGTH DISTRIBUTION IN AN ALL-OPTICAL LOGIC COMPARATOR BASED ON THE GaAs PHOTONIC CRYSTAL

The operation of robots on vertical and close to them surfaces has broad prospects due to the needto perform a sufficiently large number of technological operations on them on the one hand and the complexityof using manual labor on the other hand. The movement of a mobile robot along a vertical surfaceis considered. The movement of the robot and its retention on the surface is carried out through the operationof two linear actuators that exert pressure on it and rely on platforms capable of moving along a horizontalsurface. The robot and the platform have piano‒type wheels operating in one of two modes – free and brake. At the same time, the braking devices ensure reliable adhesion of the wheels to the correspondingsurfaces. A design scheme and a mathematical model of a robotic system using the force of linear actuatorsto move the robot along a vertical flat surface are proposed. The problem of the dynamics of the movementof a mobile robot has been solved, the movement of which along the working surface is carried out bycontrolling the magnitude and direction of the efforts developed by the actuators and the choice of inhibitedsupports that ensure a stable mode of movement. The process of movement is considered, consisting of threestages, at each of which one of the robot's supports is braked, while all the supports of the platforms on thehorizontal surface are also braked. During the transition between the stages of movement, the mobile robotmakes a stop before changing the braked wheel, after which movement resumes. The friction forces betweenthe disinhibited robot supports and the work surface are neglected. The equations and trajectories of themotion of the center of mass of the mobile robot are obtained. The dependences of the lengths of the lineardrives of the clamping mechanism on the coordinates of the center of mass of the robot are presented. Simulationmodeling was carried out, as a result of which the ranges of changes in the lengths of linear actuatorsand the forces developed to ensure the required displacement were determined.