PRINCIPLES AND MODELS OF CONSTRUCTION OF LINEAR MOTION ACTUATORS WITH HOLONOMIC STRUCTURE FOR INTELLIGENT ROBOT MOVEMENT

This article is devoted to the principles and models of building linear motion actuators with holonomic structure for the movement of intelligent robots. Also, the classification of the elements of the linear movement performance according to their interconnections and technical characteristics, taking into account their physical characteristics, was seen. A morphological matrix of the construction of holonomic structured linear motion performance elements based on the classification according to the considered technical specifications is presented. The given morphological matrix of linear motion actuators serves to develop new actuators for intelligent mechatronic and robotic systems. Based on the morphological matrix of the classification of the technical specifications of the linear motion performance elements and their construction, the mathematical models of the interconnection of electrical, magnetic and mechanical parts and the description of the physical level are presented. Including the graph connections of structural linear motion execution elements and the structures of their main components are considered. Also, graph models are the basis for expressing the dynamic properties of linear motion performance elements, as well as ensuring the interrelationship of physical quantities. The given morphological and graph models represent all possible principles of linear movement execution elements at the physical level and allow designing execution mechanisms of intelligent mechatronic and robotic systems.