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Synthesis methods for program displacements are developed for executive cylinders of the manipulator of a parallel-sequential structure, that ensure implementation of the required trajectories of the executive device of a manipulator. Program displacements of executive cylinders are interpolated by a finite collection of third-order and fourth-order splines. At each point of the trajectory of the executive device, the manipulator configuration is determined by resolving an optimization problem with the minimum condition of the generalized energy criterion.

The mathematical model of dynamics of the electric-power DC drive for actuating links of tripod manipulator with self-breaking transmission has been considered. Analytical conditions of lack of dynamic jamming the drive have been obtained.

Design features of manipulators of a parallel-serial structure based on a tripod are considered. kinematic diagram of a manipulator-tripod on a rotary base is presented, consisting of two series-connected manipulators - a manipulator-tripod of a parallel structure and a manipulator of a serial structure, and its configuration is considered, which is determined by solving an optimization problem from the condition of a minimum criterion of generalized energy. The sequential manipulator acts as a gripper. The number of degrees of freedom of the manipulator is seven. As actuating links, links with electric DC drive (actuators) are used. All actuators are equipped with an integrated analog displacement sensor. In the structure of the manipulator, the axes of the drive links of linear movement geometrically converge at one point by means of a spherical five-movable hinge assembly, which eliminates the appearance of bending moments in them from external loads from the side of the gripping device. The results of the implementation of the algorithm for constructing the service area of a manipulator of a parallel-sequential structure with a grip are presented.

The motion of a mobile robot with orthogonal walking drives is considered. The problem of reducing power consumption of drive motors for overcoming the forces of linear viscous resistance and nonlinear forces of dry friction in the case of straight motion of the robot is considered. Methods of variational calculus are used to determine the optimal program law of motion from the condition of minimum thermal losses of drive electric motors.

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.