An approximate mathematical model for estimating the influence of vibrations on attached elements of a mobile robot video system

Abstract

The problem of constructing and applying of mathematical model for assessing the influence of vibrations on the attached elements of the video system of a mobile robot is solved. This robot is considered as a mobile platform for placing of the special equipment for various purposes. The analysis of mathematical models and the results of experimental studies of vibrations of multi-support wheeled machine and its structural elements has been conducted. On the basis of this analysis, the form of a stochastic mathematical model of vibrations of the structure of a mobile robot has been substantiated. The vibration model is specified as a correlation function or spectral density of a random process for various conditions of the robot’s movement. Differential equations of the shaping filter for modeling а random vibration process with given characteristics are presented. Differential equations for the probabilistic moments of the vibration process are presented. Based on the equations for the probabilistic moments and the proposed formula, an assessment of events, which consist in exceeding the vibration amplitude of a given level was carried out. These events are named as outliers of a random process and characterize the range within the basic properties of the equipment installed on the mobile platform are preserved. An analytical study of a mathematical model to determine the intensity of emissions of a random vibration process has been carried out. The probabilistic characteristics of the vibration process and the intensity of emissions are determined. The obtained theoretical results make it possible to assess the performance of the elements of a video system installed on a mobile platform and to formulate the basic requirements for tolerances for their parameters. The results of computer modeling clearly showed the efficiency of the proposed mathematical model for assessing the influence of vibrations.

Keywords

• mobile robot
• vibration
• correlation function
• random process
• emission intensity