Most of the arm lifts used in today’s industry are designed and manufactured based on the scissor mechanism. Such schemes have one drawback: when the mechanism is raised, their connection points with the base and the movable platform narrow, which leads to a let-down in its stability. This article proposes a new scheme for the lifting device, which eliminates the above disadvantage of scissor schemes. In the scheme developed by the authors, the joints connecting the mechanism to the moving platform and the base are fixed, which means that the distance between the connection points does not change, leading to its stable operation. The mechanism consists of one group of links of the second class and two groups of links of the fourth class. The article focuses on the stability of an automotive lift’s design when moving with a load. The article presents the results of a kinematic and kinetostatic analysis, a study of the stability of the lift and the results of studies of an experimental sample of the developed lift. The methods presented in this article allow for the design of automotive lifts with new lever mechanisms, as demonstrated by computer modeling and experiments.

This paper proposes a coefficient-based method for designing a rocket angular stabilization system that yields an explicit, direct solution for determining the parameters of a PID control law from specified stability and performance indices. Linearized equations of motion in the yaw channel with a PID law are formulated, and the system transfer function and its characteristic polynomial are obtained. Quantitative stability and performance indices are introduced, defined via the coefficients of the characteristic polynomial, and expressed directly through the control law parameters. Based on sufficient conditions for stability and performance, resolving inequalities are derived for the control parameters that meet the prescribed stability and performance requirements. It is shown that the solution set of these inequalities is non-empty; i.e., the problem of finding the required control law parameters always has a solution. In the control-parameter space, the boundaries of the system’s stability and performance regions are explicitly described. A decomposition method and its extension are proposed for the design problem by the required transient process shape and transient time, splitting it into two sequential subproblems: obtaining the required shape and obtaining the required speed. A simple and effective adaptive algorithm is proposed to maintain constant stability and performance indices under variable engine thrust. The results of applying the proposed design methods to the development of a rocket angular stabilization system test stand are presented. Numerical experiments convincingly demonstrate the high effectiveness of the proposed coefficient-based design method—combining sufficient stability and performance conditions with the decomposition approach—for designing the test stand system.

This article discusses the development of a ROS2-based control system for the MDSM15B60G-2 driver using the ModBus RTU industrial protocol. The created software solution integrates into the ROS2 ecosystem, combining the reading of encoder positions, sending, and writing speed commands. The relevance of the topic is due to the integration of low-level actuators with high-level planning and navigation tools in robotics. The purpose of the study is to create a universal ROS2 package for controlling the MDSM15B60G-2 driver via the RS-485 interface. The main attention is paid to the construction of the Hardware_Interface, which provides data exchange between the controller and physical equipment. The work implements support for the /cmd_vel topic, which provides both manual and automatic control via NAV2. The methodology involves the development of a ROS2-Python node based on the PyModbus library, converting speed commands to RPM and subsequently transmitting them to ModBus RTU. The system was tested using teleop_twist_keyboard The main result of the work is a ROS2 driver that does not depend on the specific design of the robot and can be used in various robotic systems. The work demonstrates how to connect the industrial ModBus RTU protocol with ROS2.

Determining the precise position of a differential wheeled mobile robot requires further development of various sensor systems and localization methods. To achieve precise localization, odometry, which is based on measuring the angular velocity of its wheels, is primarily used. This article provides a brief overview of odometry methods and their calibration methods. A new method for calibrating a differential wheeled mobile robot using a trajectory measurement device is presented. The robot's trajectory measurement device is developed based on a high-precision rope displacement sensor and an absolute angular encoder. Using a trajectory measurement device during the calibration of a differential wheeled mobile robot facilitates data collection during experimental tests. The proposed method is compared with a differential wheeled mobile robot calibration method for correcting systematic errors along a linear path. The experiment was conducted on a MRTC differential wheeled mobile robot. The robot was calibrated using the developed method, and odometry error improvements were obtained, slightly better than those obtained using the well-known linear path calibration method. The method developed in this paper can be considered a simple and practical tool for calibrating various types of mobile robots.

Automating the pushing of bulk materials deposited through the hatch of a transport and packaging container (TPC) requires the development of a specialized robot equipped with an end effector capable of displacing material within a spatially constrained environment. This paper proposes a Cartesian robot design featuring a cellular end effector—comprising a grid of rectangular compartments—and a control system that enables the pushing of bulk material batches loaded via the hatch. This work presents experimental results regarding robotic workcell performance as a function of its end effector immersion depth and the material’s moisture content. Finite element modeling (FEM) of the end effector is detailed, determining the resistance forces encountered during movement at various immersion depths within the bulk material. Furthermore, an analysis of the container’s design was conducted to determine the final layer thickness of the bulk material after leveling five consecutive loaded portions. Newton–Euler equations are formulated to describe the movement dynamics of the end effector, considering variables such as immersion depth and material moisture. Additionally, a motion control algorithm was developed to accommodate varying displacements of the conical heap’s apex relative to the hatch center, integrated within the overall Cartesian robot control system. The derived results and recommendations facilitate the effective pushing and redistribution of loaded material batches within the container. Finally, finite element analysis and experimental validation confirm the structural strength and rigidity of the Cartesian robotic workcell, ensuring that the maximum elastic deflection of the end effector under peak dynamic load remains ≈ 1 mm.