title: ÐÐ´Ð½Ð¾Ð¾ÑÐ½Ð°Ñ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð°Ñ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ð°
title: Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÑÐºÐ°Ñ ÑÐ°Ð±Ð¾ÑÐ°
titleType: Subtitle
Creators: name: ÐÐ¸ÑÐµÐµÐ², ÐÐ½Ð´ÑÐµÐ¹
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: 2016
Subjects: Ð¼ÐµÑ Ð°ÑÑÐ¾Ð½Ð¸ÐºÐ°
ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑ Ð½Ð¸ÐºÐ°
Ð¾Ð±ÑÐ°ÑÐ½ÑÐ¹ Ð¼Ð°ÑÑÐ½Ð¸Ðº
Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÐµ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ñ
Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸
ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð¾Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ð¸
ÑÐµÑÑÐµÐ¶Ð¸
mechatronics
robotics
inverted pendulum
mathematical models
computer modelling
design
drawing

description: Ð¡Ð¾ Ð²ÑÐµÐ¼ÑÐ½ Ð°Ð²Ð°ÑÐ¸Ð¸ Ð½Ð° Ð§ÐµÑÐ½Ð¾Ð±ÑÐ»ÑÑÐºÐ¾Ð¹ ÐÐ­Ð¡ Ð¾Ð´Ð½Ð¾Ð¹ Ð¸Ð· ÑÐ°Ð¼ÑÑ Ð¿ÐµÑÑÐ¿ÐµÐºÑÐ¸Ð²Ð½ÑÑ Ð¾Ð±Ð»Ð°ÑÑÐµÐ¹ ÑÐ°Ð·Ð²Ð¸ÑÐ¸Ñ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÐºÐ¸ ÑÐ²Ð»ÑÐµÑÑÑ Ð¼Ð¾Ð½Ð¸ÑÐ¾ÑÐ¸Ð½Ð³ Ð¾Ð±Ð»Ð°ÑÑÐµÐ¹ Ð¸ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ð² ÑÐºÑÑÑÐµÐ¼Ð°Ð»ÑÐ½ÑÑ, Ð½ÐµÐ´Ð¾ÑÑÑÐ¿Ð½ÑÑ Ð¸ Ð¾Ð¿Ð°ÑÐ½ÑÑ Ð´Ð»Ñ ÑÐµÐ»Ð¾Ð²ÐµÐºÐ° ÑÑÐ»Ð¾Ð²Ð¸ÑÑ. Ð ÐºÐ°ÑÐµÑÑÐ²Ðµ ÑÐµÑÐµÐ½Ð¸Ñ Ð² Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÑÐµÑÐµ Ð²ÑÑÑÑÐ¿Ð°ÑÑ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÐµ ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÐµ ÑÐ¸ÑÑÐµÐ¼Ñ (ÐÐ Ð¢Ð¡), Ðº ÐºÐ¾ÑÐ¾ÑÑÐ¼ Ð¿ÑÐµÐ´ÑÑÐ²Ð»ÑÑÑÑÑ Ð²ÑÑÐ¾ÐºÐ¸Ðµ ÑÑÐµÐ±Ð¾Ð²Ð°Ð½Ð¸Ñ. Ð¦ÐµÐ»ÑÑ Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¾Ð´Ð½Ð¾Ð¾ÑÐ½Ð¾Ð¹ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð¹ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ñ (ÐÐÐ) Ð´Ð»Ñ Ð¼Ð¾Ð½Ð¸ÑÐ¾ÑÐ¸Ð½Ð³Ð° Ð¸ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ð² ÑÐºÑÑÑÐµÐ¼Ð°Ð»ÑÐ½ÑÑ ÑÑÐ»Ð¾Ð²Ð¸ÑÑ. ÐÑÐµÐ¸Ð¼ÑÑÐµÑÑÐ²Ð¾Ð¼ Ð¾Ð´Ð½Ð¾Ð¾ÑÐ½Ð¾Ð¹ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ñ Ð¿ÐµÑÐµÐ´ Ð´ÑÑÐ³Ð¸Ð¼Ð¸ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ð²Ð½ÑÐ¼Ð¸ ÑÐµÑÐµÐ½Ð¸ÑÐ¼Ð¸ ÑÐ²Ð»ÑÐµÑÑÑ ÐµÑ ÐºÐ¾Ð¼Ð¿Ð°ÐºÑÐ½Ð¾ÑÑÑ, Ð¼ÐµÐ½ÑÑÐ¸Ð¹ Ð²ÐµÑ, Ð±Ð¾Ð»ÐµÐµ Ð²ÑÑÐ¾ÐºÐ¸Ðµ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾ÑÑÑ Ð¸ Ð±ÑÑÑÑÐ¾Ð´ÐµÐ¹ÑÑÐ²Ð¸Ðµ, ÑÑÐ¾ Ð´ÐµÐ»Ð°ÐµÑ ÐÐÐ Ð² ÑÐµÐ»Ð¾Ð¼ Ð¾ÑÐµÐ½Ñ Ð¿ÐµÑÑÐ¿ÐµÐºÑÐ¸Ð²Ð½ÑÐ¼ Ð½Ð°Ð¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸ÐµÐ¼ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ¸. Ð Ð°Ð·ÑÐ°Ð±Ð°ÑÑÐ²Ð°ÐµÐ¼Ð°Ñ ÐÐÐ Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÑÐµÑ ÑÐ¾Ð±Ð¾Ð¹ Ð¾Ð±ÑÐ°ÑÐ½ÑÐ¹ Ð¼Ð°ÑÑÐ½Ð¸Ðº Ð¸ ÑÐ²Ð»ÑÐµÑÑÑ Ð½ÐµÐ¾ÑÐ´Ð¸Ð½Ð°ÑÐ½ÑÐ¼ Ð¸ ÐµÑÐµ Ð½Ðµ Ð¿ÑÐ¸Ð¼ÐµÐ½ÑÑÑÐ¸Ð¼ÑÑ ÑÐ¸ÑÐ¾ÐºÐ¾ Ð² Ð´Ð°Ð½Ð½Ð¾Ð¹ Ð¾Ð±Ð»Ð°ÑÑÐ¸ ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð¾Ð¼. Ð­ÑÐ¾ Ð¾Ð·Ð½Ð°ÑÐ°ÐµÑ, ÑÑÐ¾ Ð±Ð¾Ð»ÑÑÑÑ ÑÐ°ÑÑÑ Ð¿ÑÐ¾ÑÐµÑÑÐ° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ¸ ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð° Ð´Ð¾Ð»Ð¶Ð½Ð° Ð·Ð°Ð½Ð¸Ð¼Ð°ÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ, Ð¿Ð¾Ð´Ð´ÐµÑÐ¶Ð¸Ð²Ð°ÑÑÐµÐ¹ ÐºÐ¾ÑÐ¿ÑÑ ÑÐ¸ÑÑÐµÐ¼Ñ Ð² Ð·Ð°Ð´Ð°Ð½Ð½Ð¾Ð¼ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ð¸. Ð ÐµÑÐ¸Ð² ÑÑÑ Ð¿ÑÐ¾Ð±Ð»ÐµÐ¼Ñ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½ÑÐ¼ Ð¿ÑÑÑÐ¼, Ð¾Ñ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¼Ð¾Ð¶Ð½Ð¾ Ð´Ð¾Ð±Ð¸ÑÑÑÑ Ð²ÑÑÐ¾ÐºÐ¸Ñ Ð¿Ð¾ÐºÐ°Ð·Ð°ÑÐµÐ»ÐµÐ¹ Ð±ÑÑÑÑÐ¾Ð´ÐµÐ¹ÑÑÐ²Ð¸Ñ, Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾ÑÑÐ¸ Ð¸ Ð½Ð°Ð´ÐµÐ¶Ð½Ð¾ÑÑÐ¸, Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¾Ð¾ÑÐ²ÐµÑÑÑÐ²ÑÑÑÐµÐ¹ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ð¸ Ð¸ Ð¿ÑÐ°Ð²Ð¸Ð»ÑÐ½Ð¾ Ð²ÑÐ±ÑÐ°Ð½Ð½Ð°Ñ ÐºÐ¾Ð¼Ð¿Ð¾Ð½Ð¾Ð²ÐºÐ° Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÑ ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°ÑÑ Ð¸ Ð½Ð°Ð¸Ð±Ð¾Ð»ÐµÐµ ÑÐ´Ð°ÑÐ½Ð¾ ÑÐ°ÑÐºÑÑÑÑ Ð¿Ð¾ÑÐµÐ½ÑÐ¸Ð°Ð» ÑÐ°Ð·ÑÐ°Ð±Ð°ÑÑÐ²Ð°ÐµÐ¼Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ.
description: One of the most perspective fields in robotechnics since the Chernobyl accident is monitoring and transportation in extreme, dangerous and inaccessible to human areas. Mobile platforms made by high standards have become a solution to that problem. Aim of this work is the development of uniaxial mobile platform (UMP) for transporting items in human-dangerous conditions. Density, lightness, higher mobility and speed makes uniaxial mobile platform a perspective direction of development and a more preferable structure. Developed UMP is an inverted pendulum. It is a nonstandard and isn't widely applying in this field of robotechnics device. The development is mostly devoted to the construction of mathematical model and control system which allow the body of UMP to stay in predetermined position. The solution of this will make the system work in high speed and mobility range, will make it highly reliable. The construction and an apposite arrangement will fully unlock UMP's potential.