PROBLEMS OF ADAPTATION TO SURFACES OF VACUUM CONTACT DEVICES OF ROBOTS
The problem of achievement of the best interface of vacuum contact devices with surfaces arises both for manipulators equipped with vacuum captures, and for mobile robots, moving on surfaces of complex shape, with properties unknown in advance. The ways of passive and active adaptation of contact devices, in which generation of vacuum for reliable coupling with surfaces is used, are considered. Because of non-linearity of the consumable and load characteristics of vacuumization, the graphic method of calculation of operating modes is considered.