title: ÐÐ½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ ÑÐ¾Ð±Ð¾ÑÐ°-Ð¿Ð°ÑÐºÐ°
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Information model of the spider-robot
Creators: name: ÐÑÐ°Ð²ÑÐµÐ½ÐºÐ¾, ÐÐ¸ÐºÑÐ¾Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2020
Subjects: Ð Ð¾Ð±Ð¾ÑÐ¾ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ
ÐÐ°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
ÐÑÑÐ¸ÑÐ»Ð¸ÑÐµÐ»ÑÐ½ÑÐµ Ð¼Ð°ÑÐ¸Ð½Ñ ÑÐ»ÐµÐºÑÑÐ¾Ð½Ð½ÑÐµ Ð¿ÐµÑÑÐ¾Ð½Ð°Ð»ÑÐ½ÑÐµ
ÑÐ¾Ð±Ð¾Ñ-Ð¿Ð°ÑÐº
ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ñ ÐÐ°Ð³ÑÐ°Ð½Ð¶Ð° II ÑÐ¾Ð´Ð°
Ð½Ð¾ÑÐ¼Ð°Ð»ÑÐ½Ð°Ñ ÑÐ¾ÑÐ¼Ð° ÐÐ¾ÑÐ¸
Ð¸Ð½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ
SimInTech
spider-robot
Lagrange equations of the second kind
normal form of Cauchy
information model

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¿ÑÐ¾Ð´Ð¾Ð»Ð¶ÐµÐ½Ð¸Ñ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¸ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ ÑÐ¾Ð±Ð¾ÑÐ°-Ð¿Ð°ÑÐºÐ°, Ð² ÑÐ°ÑÑÐ½Ð¾ÑÑÐ¸, ÑÐ¸Ð½ÑÐµÐ·Ñ Ð¸Ð½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹, Ð·Ð°Ð´Ð°Ð½Ð½Ð¾Ð¹ Ð² ÑÐ¾ÑÐ¼Ðµ ÐÐ°Ð³ÑÐ°Ð½Ð¶Ð° II ÑÐ¾Ð´Ð°. ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐµÑÐ°Ð»Ð¸ÑÑ Ð² ÑÐ¾Ð´Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ: 1) Ð²ÑÐ¿Ð¾Ð»Ð½Ð¸ÑÑ Ð²ÑÐ²Ð¾Ð´ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¾Ð±Ð¾ÑÐ°-Ð¿Ð°ÑÐºÐ°; 2) ÑÐ¸Ð½ÑÐµÐ·Ð¸ÑÐ¾Ð²Ð°ÑÑ Ð¸Ð½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¾Ð½Ð½ÑÑ Ð¼Ð¾Ð´ÐµÐ»Ñ ÑÐ¾Ð±Ð¾ÑÐ°-Ð¿Ð°ÑÐºÐ°; 3) ÑÐ¸Ð½ÑÐµÐ·Ð¸ÑÐ¾Ð²Ð°ÑÑ ÑÐ¸ÑÑÐµÐ¼Ñ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ; 4) Ð¿ÑÐ¾ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°ÑÑ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÑ Ð¼Ð¾Ð´ÐµÐ»Ñ. ÐÐ½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð° Ð² Ð¾ÑÐµÑÐµÑÑÐ²ÐµÐ½Ð½Ð¾Ð¹ ÑÑÐµÐ´Ðµ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ SimInTech. ÐÐ¾Ð¼Ð¸Ð¼Ð¾ ÑÐ°Ð¼Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð² ÑÑÐµÐ´Ðµ Ð±ÑÐ» ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½ Ð¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°ÑÐµÐ»ÑÑÐºÐ¸Ð¹ Ð¸Ð½ÑÐµÑÑÐµÐ¹Ñ Ð´Ð»Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¼Ð¾Ð´ÐµÐ»ÑÑ Ð¸ Ð²Ð¸Ð·ÑÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ ÐµÑ ÑÐ°Ð±Ð¾ÑÑ. Ð¢ÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð·Ð°ÐºÐ»ÑÑÐ°Ð»Ð°ÑÑ Ð² Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ð¸ ÑÐµÑÐ¸Ð¸ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð², Ð¸Ð¼Ð¸ÑÐ¸ÑÑÑÑÐ¸Ñ ÑÐµÐ°Ð»ÑÐ½ÑÐµ Ð·Ð°Ð´Ð°ÑÐ¸, Ð¸ Ð¿Ð¾ÑÐ»ÐµÐ´ÑÑÑÐµÐ¼ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ð¸ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÑ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð² Ñ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ°Ð¼Ð¸ Ð°Ð½Ð°Ð»Ð¾Ð³Ð¸ÑÐ½ÑÑ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð², Ð¿ÑÐ¾Ð²ÐµÐ´ÑÐ½Ð½ÑÑ Ð² ÑÐ°Ð¼ÐºÐ°Ñ Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÑÐºÐ¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ Ð½Ð°Ð´ Ð¸Ð½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»ÑÑ ÑÐ¾Ð±Ð¾ÑÐ°-Ð¿Ð°ÑÐºÐ°, ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð¾Ð¹ Ð² Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ðµ Simulink Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ ÑÐ¸Ð·Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸. Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ ÑÐ°Ð±Ð¾ÑÑ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð° Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ, Ð¿Ð¾Ð´ÑÐ¾Ð´ÑÑÐ°Ñ Ð´Ð»Ñ Ð¿Ð¾ÑÐ»ÐµÐ´ÑÑÑÐµÐ¹ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ¸ Ð¸Ð½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸, ÐºÐ¾ÑÐ¾ÑÐ°Ñ Ð²Ð¿Ð¾ÑÐ»ÐµÐ´ÑÑÐ²Ð¸Ð¸ Ð±ÑÐ»Ð° ÑÑÐ¿ÐµÑÐ½Ð¾ ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½Ð° Ð¸ ÑÐ´Ð¾Ð²Ð»ÐµÑÐ²Ð¾ÑÐ¸ÑÐµÐ»ÑÐ½Ð¾ Ð¿ÑÐ¾ÑÐ»Ð° Ð·Ð°Ð´Ð°Ð½Ð½ÑÐµ Ð¸ÑÐ¿ÑÑÐ°Ð½Ð¸Ñ, Ð¿Ð¾ÐºÐ°Ð·Ð°Ð² ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÑ Ð½Ðµ ÑÑÐ¶Ðµ, ÑÐµÐ¼ Ð¸Ð½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ, ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð°Ñ Ð² Simulink.
description: This work is devoted to the continuation of research and simulation of the spider robot, in particular, to the synthesis of an information model based on a mathematical one given in the form of a Lagrange of the second kind. Tasks that were solved in the course of the study: 1) design a mathematical model of a spider robot; 2) synthesize the information model of the spider robot; 3) synthesize automatic control system; 4) test the resulting model. The information model is made in the environment of dynamic modeling of domestic production SimInTech. In addition to the model itself, the environment has implemented a user interface for managing the model and visualizing how it works. The model was tested by conducting a series of experiments simulating real problems and then comparing the results with the results of similar experiments conducted as part of the bachelor's work on the information model of the spider robot, developed in the Simulink program based on the physical model. As a result, we obtained a mathematical model suitable for the subsequent development of the information model, which was subsequently successfully implemented and satisfactorily passed the specified tests, showing results no worse than the information model developed in Simulink.