Optimal Design of Agricultural Walking Robot


Legged machines that can adapt to off-road conditions and irregular terrain, have a number of advantages over traditional wheeled and tracked vehicles. In particular, in agriculture, they cause the least damage to the soil, in comparison with wheeled and tracked vehicles, due to the discrete track on the ground. Meanwhile, attaining to increase productivity of agricultural machines leads to an increase of machine weight that cause increased soil pressure and unfavorable conditions for plant growth. Various designing concepts of legged robots have been proposed by research teams by now. However, many of them are extremely ineffective in terms of power consumption (energy efficiency) and complexity of the control system. The optimal synthesis of the robot leg, combined with functional decomposing of the robot actuators, allows to simplify control systems and minimize power consumption when moving over rough terrain.



Prof., Dr.-Eng. Sayat IBRAYEV is a chief sc. researcher, head of the laboratory "Mechanics of Robots and Manipulators" at the Institute of Mechanics and Engineering (Almaty, KAZAKHSTAN). He graduated from Lomonosov Moscow State University in 1988 (Chair of Applied Mechanics, Diploma of "Excellence"). He received his Ph.D. (candidate of technical sc.) in the Institute of Mechanics and Engineering in 1992 and Dr.-Eng. (doctor of technical sc.) dissertation "Modular Approach for Synthesis of Multi-d.o.f. Linkages and Parallel Manipulators" in 1996. In 1998-2000 Prof. S.Ibrayev worked at Technical University Chemnitz (Germany) as research fellow supported by International Sc. Foundation Alexander von Humboldt-Stiftung/Foundation (Berlin, Germany). He developed analytical and numerical methods of approximation synthesis of adjustable multi-loop linkages, multi-criteria design of parallel robots and walking robot optimal leg design. In 2001-2010 he worked at Satbayev Kazakh National Technical University as a Professor and Head of Dept. "Theoretical and Applied Mechanics". Currently he is a head of the projects "Optimal Design of the Adaptive Walking Robot", "Designing of Experimental Robot for Technological Operations by Loading of Natural Uranium Chemical Concentrate", "Structural and Parametric Synthesis of Lower Limb Exoskeleton Mechanism", "Developing of Medical Robots for COVID-19 Pandemic", "Developing of the Novel Drive Mechanism of Sucker Rod Pump". Prof.S.Ibrayev is the author of 150 sc. publications, 5 Monographs, 10 Patents, popular-sc. books.