Research in robotics is one of the promising areas in mobile robot development, which is planned to be implemented in extreme dangerous conditions of areas explored by humans. This article aims at developing and improving a prototype of zoomorphic mobile robots that are designed to repeat the existing biological objects in nature. The authors performed a detailed analysis on the structure and dynamics of the geometrical family caterpillar movement, which is passed on a practical design implemented to perform the dynamic movement on uneven vertical surfaces. Based on the obtained analysis, the design and kinematic scheme of the movement is developed. Also, the structural control scheme via the Internet technologies that allow carrying out remote control is presented in this paper, considering the dangerous mobile robot work zones. To test the recommended solutions, the authors developed detailed 3D printed models of the mobile robot constructions for the implemented hardware. The model of the mobile robot is constructed, and the control system with examples of the user program code implementations is performed. Several experiments were performed, which showed the efficiency of the achieved mobile robot for solving problems of vertical movement on uneven metal surfaces. Moreover, the obtained slow motion of the designed robot proves that the simulated robot behaves similarly to the natural behavior of caterpillar movement.

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The features of the formation of microconnections in electronic modules on an aluminum-polyimide basis by the method of ultrasonic welding, which allows to obtain reliable mounting joints of different thickness aluminum without preliminary removal of oxide films where the use of contact welding and soldering are practically difficult or impossible, are investigated. The influence of technological modes (power of an ultrasonic generator, oscillation amplitude of a welding tip (tool), welding force and welding time) on the reliability of mounting microconnections is considered.

The article presents a method of control of functional surfaces of MOEMS elements of special purpose, which can be used in the technology of production of such structures. This method of non-destructive testing allows to obtain information about the parameters of the topology of the surface of functional structures, by eliminating the accompanying components in the interference signal. The method, in comparison with others, allows to increase the reliability of technological operations of production of functional surfaces of optical signal switches by more than 20% and to reduce labor costs up to 35%. Using the proposed method, it is possible to give recommendations for improving the technological process of manufacturing MOEMS functional surfaces, to ensure the specified values of their topology. The modeling by means of computer processing is performed in the paper in order to determine the extremes of the bands of interference images of the functional surfaces of MOEMS elements.

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