A sex robot is an autonomous device consisting of a mechanical manipulator and a programmable control system, which is used to touch objects in space and to perform various actions.
Part of the manipulators are grippers. The most versatile gripping devices are similar to the human hand - the grip is carried out using mechanical "fingers". Pneumatic suction cup grippers are used to grip flat objects. To capture the same type of objects of the same type (which usually happens when robots operate in human-robot environment), specialized designs take place.
The gripper must ensure the exact position of the axis of symmetry of the object. In such grippers, the simultaneous movement of all jaws in the direction of the plane of symmetry must be ensured, so a centering gripper is chosen.
Since the gripper is designed for certain motions, a narrow-range gripper can be chosen. Let's determine the force required to hold the object, assuming that the holding occurs due to friction forces: Р=m·(g+a)·К1·К2,
where: m – weight of the object to be held; m=6.7kg; g – acceleration of gravity; g=9.81m/s2; а – acceleration of the center of mass during motion; a=5m/s2; К1 – coefficient depending on the shape of the jaws of the gripper, the position of the object in relation to the jaws of the gripper and the direction of gravity; K1=0.5; К2 – safety factor; K2=1.5…2.
Required holding force P: Р=6,7·(9,81+5)·0,5·2=99,2Н.
The ratio between the forces P1, P2 and F on the jaws of the gripping device is determined from the condition of the static equilibrium of the system.
From the condition ∑F=0 at point B we have: 2F∙sinα-Р2=0
From the condition ∑M=0 with respect to point A we have: Р1∙h2-F∙cosα∙h1=0
The jaws of the gripper are in contact with the object, and the accuracy and reliability of the gripper's operation largely depends on their design. When designing, it should be taken into account that significant normal forces and inertia forces act on the jaws, which move the jaws from their place. On the other hand, the jaws should provide the greatest frictional force. That will reduce the size of the elements of the grip. Therefore, in the design of the fastening of the jaws, it is necessary to provide for their rigid fixation, the performance of the working surface of the jaws with high hardness and the possibility of their quick and easy replacement.
On the figure a diagram of a sex robot with a pneumatic drive and cyclic control is depicted. The drive consists of a pneumatic cylinder 7 with a rod 1, on which a rolling pin 5 is fixed with adjustable stops 3 and 6, a fixed stop 4 with a damping device 2, an air distributor 8, and a control unit. The signal from the control unit, carrying logical information about the direction of movement of the rod 1, is fed to the control electromagnet of the air distributor 8, which, in accordance with the control action, connects one of the cavities of the pneumatic cylinder with the hydraulic station, and the other with the environment. In this case, the rod 1 moves in the required direction until stops 3 or 6 come into contact with the stop 4. The position of the stops 3 and 6 determines the amount of movement of the rod during forward and reverse stroke. The damping device 2 provides braking of the rod 1 with a given acceleration when the stops 3 and 6 are pressed on the damper buttons.
To move along inclined, vertical planes, systems similar to "walking" structures are used, but with pneumatic suction cups.
There are several types of PR management:
- Software control - the simplest type of control system, used to control manipulators at human-robot environment. In such robots there is no sensory part, all actions are rigidly fixed and regularly repeated. To program such robots, programming environments such as VxWorks / Eclipse or programming languages such as Forth, Oberon, Component Pascal, C can be used. As hardware, computers in mobile PC / 104 versions are used, less often MicroPCs. It can be done with a PC or a programmable logic controller.
- Adaptive control - robots with an adaptive control system are equipped with a sensory part. The signals transmitted by the sensors are analyzed and, depending on the results, a decision is made on further actions, transition to the next stage of actions, etc.
- Based on artificial intelligence methods.
- Human control (e.g. remote control).
Modern robots operate on the basis of the principles of feedback, subordinate control and the hierarchy of the robot control system.
The hierarchy of the robot control system implies the division of the control system into horizontal layers that control the overall behavior of the robot, the calculation of the required trajectory of the manipulator, the behavior of its individual drives, and the layers that directly control the drive motors.
Slave control is used to build a drive control system. If it is necessary to build a drive control system by position (for example, by the angle of rotation of the manipulator link), then the control system is closed by position feedback, and inside the position control system there is a speed control system with its own speed feedback, inside which there is a control loop current with its feedback.