Исследуются особенности мобильных мини-роботов (ММР) - малогабаритных роботов носимого типа, характерные размеры которых измеряются несколькими десятками сантиметров, а масса не превышает 15 кг. Исследуются и обосновываются особенности транспортных систем ММР с точки зрения подходов к методам их проектирования и математического описания. Приводятся результаты структурного синтеза транспортной системы ММР с реконфигурируемым шасси. Выполняется построение компьютерной модели транспортной системы в двух конфигурациях: гусеничной и колесной. Приводятся результаты экспериментальных исследований и сравнения полученных экспериментальных и расчетных данных. Выявленные особенности транспортных систем ММР и методов построения компьютерных моделей с учетом этих особенностей позволили повысить точность и адекватность моделирования движения ММР по сравнению с известными подходами, применяемыми при расчетах более крупных аналогов.
The article investigates the features of mobile mini-robots (MMR) - man-portable small-sized robots, whose general dimensions are measured by several tens of centimeters, and the weight does not exceed 15 kg. When creating such robots, the main task is to ensure their functioning in indeterminate environment characterized by obstacles commensurate with or exceeding the robot's own dimensions. A study of the theory and practice of the creation of wheeled and tracked vehicles and mobile robots for various purposes shows that the existing methods of calculation and the approaches used to create them can not be just formally transferred to small-sized MMR transport systems that have a number of features that distinguish them from larger analogues. The paper investigates and substantiates the features of MMR's transport systems in terms of approaches to the design methods and mathematical description. Among such features are: small size of all elements of the driving and locomotion components, causing differences in the nature of interaction with the supporting surface; features related to the need for locomotion in an environment with macro-obstacles; the need for more accurately account for internal losses in the elements of the transport system, which begin to play an essential role relative to useful forces. The results of structural synthesis of the MMR transport system with a reconfigurable chassis are presented. The mathematical and computer models of the transport system is being constructed in two configurations: tracked and wheeled. The complete computer model of the transport system includes a mathematical description of such units as: power source, electric motors and reduction gears of traction drives and drives of chassis geometry reconfiguration mechanisms, chassis in tracked or wheel configuration. The study of the model of the transport system is considered in interaction with the surface with the specified characteristics and geometric configuration. The results of experimental studies of the linear motion of the MMR's transport system on inclined surfaces under different load conditions are presented. The obtained experimental and calculated data are compared. The revealed features of the MMR transport systems and the methods of constructing computer models taking into account these features made it possible to increase the accuracy and adequacy of the MMR motion simulation in comparison with the known approaches used in the case of larger systems.
The authors declare that there are no conflicts of interest present.