ИСТИНА

Linearized model of vacuum contact device is presented for study of wall climbing underwater robot parameters. Features of such device design are discussed. Device includes pneumatic chamber, drive, source of vacuum and sealing. Pneumatic chamber of device model is depicted as a changed volume with variable and constant pneumatic restrictions – throttles included on input and output of chamber. Pressure pump or ejector is used as source of the vacuum. The results of simulation and modeling permit to find relationships between such parameters as pressure, flow rate, pressing force. Motion-path cyclograms and pressure changing characteristics illustrate dependence between working parameters. The obtained results of model study are used to develop calculation method for design prospective prototypes of vacuum contact devices.