For a walking robot of vertical movement, a mathematical model of a pneumatic actuator for fixing a support on a surface has been developed. The resulting model takes into account the equation of motion of the pneumatic actuator, the equation of pressure change in the rod and rodless cavities of the pneumatic cylinder, equations describing the laws of change in the forces of dry and viscous friction, as well as static friction, and the conditions for limiting the movement of the piston. On the basis of the obtained mathematical model, a block diagram was built in the MATLAB Simulink software package and the features of the pneumatic actuator were modeled.
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The simulation of the wall climbing robot’s actuator for fixation in the MATLAB Simulink software package
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