Alexander Maloletov

• Doctor of Theoretical Mechanics
• Professor (Full) at Innopolis University

The problem of incremental forming is considered as a problem of creating local stresses in the workpiece material corresponding to the yield strength for this material and the subsequent movement of the tool that provides deformation of the material in the required direction. The paper describes the modeling of the stresses arising from single-sid...

This paper presents an approach to terrain shape detection using an array of tactile sensors or motor torque and encoders. A sparse point cloud at points where the surface is touched by the robot’s feet is converted into a polygonal mesh and a dense 3D point cloud using $\alpha$-shapes derived from a 2D Delaunay triangulation. Cloud-to-Cloud (C2C)...

This paper discusses how to develop and implement a bimanual teleoperation system using an exoskeleton suit and two collaborative robots. In the mathematical model, two methods of mapping have been implemented: Joint space mapping via direct control and Cartesian space mapping using Saturation in the Null Space. Both methods are verified in simulat...

Telesurgery, which enables remote surgical procedures, has the potential to revolutionize healthcare by improving access to specialized care and reducing costs. However, trust in telesurgery is a major concern for patients and healthcare providers. To address this issue, we propose a novel system for building trust in telesurgery through blockchain...

This paper highlights the role of game theory in specific control tasks of cable-driven parallel robots. One of the challenges in the modeling of cable systems is the structural nonlinearity of cables, rather long cables can only be pulled but not pushed. Therefore, the vector of forces in configuration space must consist of only nonnegative compon...

The paper proposes a method for controlling tension forces in statically indeterminable cable-driven systems based on the non-negative least squares method with control of singular or near-singular solutions and a complete search of all possible cable configurations. For cable-driven parallel robots the problem of controlling the cable tension forc...

Metal towers as supports for a cable-driven parallel robot have been considered in this paper. Their loads and strains have been modeled. The most dangerous combination of loads affecting the tower during the entire operation period has been calculated. The major design principles of a facility used for this purpose have been stated based on an ana...

The paper deals with the problem of smooth motion of the end-effector of an overactuated cable-driven parallel robot. There is observed a way to give planar curvilinear trajectory via Fourie series. The idea of this work is to use special sigmoid function as an argument of function composition to achieve smoothness at the beginning of motion of the...

The paper deals with a problem of position and orientation errors of mobile platform of large-sized parallel cabledriven robots. The advantages of parallel cable-driven robots are simplicity of structure and scalability. At the same time, parallel cable-driven robots are difficult to design due to the specific problems such as collision of cables,...

Passive dynamic damper has beem proposed to reduce torsional oscillations of end-effector of large-sized cable-driven parallel robot.

The paper deals with model-free error compensation for cable-driven parallel robots based on the sim2real deep transfer learning. Particular attention is paid to simulation-based error estimation for different payloads attached to the robot end-effector and the use of the Transfer Learning approach for error compensation. This allows to reduce phys...

The article deals with a problem of modeling of sagging elements of large-sized cable-driven parallel robot. Mechanical properties of the elements in specific cases and the concept of control system are taken into account. With regard to the listed reasons, typical mechanical models have to be chosen: the catenary, or the beam, or the rod. The resu...

The article considers metal towers as supports for a parallel cable robot, and simulates loads and deformations. The calculation was made and the most dangerous combination of loads acting on the tower during the entire period of operation was determined. Based on the analysis of the results of the calculation, the main principles for designing a s...

This paper deals with the application of force sensors to estimate position errors of the center of mass of the mobile platform of a cable-driven parallel robot. Conditions of deformations of cables and towers of the robot are included in the numerical model and external disturbance is included too. The method for estimating the error in positionin...

Measurement of performance metrics namely repeatability and directional accuracy of an under-actuated cable-driven robot using a monocular camera is proposed. Experiments were conducted on a cable-driven robot used for construction and the results are compared with that from a laser tracker. Least value of about 18 mm was observed at the middle of...

The article deals with a description of design and modeling of neuro-fuzzy regulator (ANFIS) which provides a compensation of deviations of mobile platform of parallel cable-driven robot. The regulator uses adjusting of lengths of unwounded cables. Evaluation of the control system has been made according to the quality criterion as an elongation of...

A laboratory model and simulation of the movement of a mobile robot with a sectional propeller are considered. The results of mathematical modeling of motion dynamics are presented.

A study of the specific time of 3D printing using the FFF technology of one gram of material is being carried out. It describes the methodology of the study, using software, and configure it in a study, an analysis of the data and the final results.

The problem of stability of the plane motion of mobile robots, including those with walking propulsion devices, is considered. Two modes of propulsion devices are compared: "pushing" and "pulling". The solution of two model problems on the plane motion of a solid body caused by kinematic and force action is presented.

The method of overcoming an obstacle of the "moat" type by a walking machine with cycle movers is considered. Quantitative characteristics of the profile passability in indicator are described. The results of experimental research of the proposed method of increasing the profile passability of a walking machine with cycle movers are presented.

This paper presents a new local linearization method for elastic forces in tensegrity structures, which can be used to solve forward kinematic problems. Forward kinematic problems are often solved as a part of inverse kinematic algorithms and trajectory planning in robotics, and it is often desirable to be able to perform those algorithms online. T...

In modern agriculture, various methods of land reclamation are used. Applied sprinklers provide processing of rectangular fields with rectilinear motion and round-shaped fields when using circular irrigation sprinklers. Therefore, it is important to develop methods to increase the irrigation of fertile soils, including through the use of sprinkler...

This paper proposes the application of Deep Learning methods for kinematic error compensation. Particular attention is paid to simulation-based error estimation and the use of the Transfer Learning method for error compensation to reduce physical experiments with a real robot. The obtained results were applied and validated for 4-dof (degrees of fr...

The paper contributes to developing algorithms for motion planning and motion control for mechanical systems with two and more passive degrees of freedom by exploring a challenging example in details. As shown, some of arguments of motion planning methods developed for systems of underactuation degree one can be generalized for novel demanding sett...

One of the urgent problems facing the developers of multi-legged walking machines and robots is to increase the energy efficiency of the propulsion devices. During the transfer phase, the propulsion device detaches from the ground, rises to a certain height, and then descends to the ground. Having information on the nature of the profile of the bea...

An analysis of the geometry of a cable-driven parallel robot is carried out. The influence of the design of the guide rollers and the winding mechanisms on the errors in the determination of the cable length control laws was investigated. Two variants of the arrangement of the spools in the winch mechanisms are considered. The analysis of the magni...

The problem of development the control method of mobile robot with different types of propulsion devices of discrete interacting with the support surface have been considered. For each of the considered propulsion devices have been developed mathematical model. Design scheme of such robot have been described. The areas of application of each propul...

We construct a programmed motion of the drive to adapt a walking mover to the supporting surface based on the optimality criterion that takes into account the energy costs of movement, the shockless interaction with the ground, and the traction–coupling properties in stepping.

A few indicators characterizing the efficiency of mobile robots in general and walking robots in particular, as well as operational (motion comfort and energy efficiency) and structural (pace) indicators are considered. A weighted quality functional of quality is constructed and its extreme value is sought. An analytical solution is obtained making...

The problem of choosing the program regime of a cycle mechanism motion on the basis of complex estimates of its energy and dynamic parameters is solved. An optimization criterion is formed as a functional consisting of the introduced parameters, which are determined by solving some differential equations describing the mechanism motion. For a speci...

The problem of determining of motion quality indicators for walking robots of rotary type movers discretely interacting with supporting surface is formulated. The quality indicators have been introduced functionals, depending on equations of motion.

The issues around problem of increasing efficiency of walking machine motion have been discussed in this paper. Among them: ground or bearing cross-country ability, profile cross-country ability, maneuverability, the energy consumption.

A method for determining programmed motion laws of a modular multisupport walking machine with several twin orthogonal rotary movers is considered. Arbitrary planar motion of this machine without slippage of the feet on the ground is studied. The machine control is formed by a matrix of control actions. Simulation results are discussed.

We consider cyclic mechanisms with one degree of freedom driven by engines of various types such as alternating and direct current motors, internal combustion engines, etc. We pose the problem of modifying the mechanism structure by joining additional links or by varying the parameters or operation mode of the original mechanism so as to minimize t...

Обсуждается опыт разработки и натурных испытаний шагающих опор многосекционных широкозахватных дождевальных машин. Рассмотрены вопросы, связанные с экологичностью и энергоэффективностью шагающего способа передвижения в орошаемом земледелии. Приведены рекомендации по выбору основных параметров шагающих движителей циклового типа, предназначенных для...

We consider the problem of control of motion of a many-legged statically stable locomotion machine ensuring the choice of a minimal-power motor. We show that the machine frame can be used as a kinetic energy recuperator, thus providing a significant decrease in the reactive power.

The walking machines of ground practicability are under consideration. The methods of calculations of the dynamic movement characteristics have been elaborated. The real walking machine has been designed, produced and tested on the basis of proposed methods of calculations.

Multilegged statically stable walking machines of soil cross-country capability with propellers on the basis of cycle mechanisms are under consideration. The turn both of existing and elaborating walking machines moving on comparativelly flat surface with poor carrying ability was learned out. Methods of parameters calculations of the kinematic sch...

Multilegged statically stable walking machines of ground practicability with gears on basis of cycle mechanisms are under consideration. The dynamics of walking machines moving on comparatively flat surface with poor carrying layer was learned out both theoretically and experimentally in environmental conditions. Variations of improving the kinemat...