Calculation and Optimization of the Wheel-Track Mobile Robot Reconfi guration Mechanism
https://doi.org/10.17587/mau.23.209-215
Abstract
The actual problem of an autonomous transport robot design for work in an unstructured environment and in emergency situations is considered. The design of the robot contains a combined system, consisting of transformable track and wheel groups, which allows moving over different types of surfaces, including the conditions of the urban environment, in particular flights of stairs. Movement on a flat surface is carried out only by wheel groups with raised track groups, which provides an increased speed of the robot. Movement on uneven surface is carried out only by track groups, while the wheel groups are raised. It provides increased cross-country ability. Staircase and complex obstacles can be overcome with the simultaneous use of wheel and track groups at angle of the wheel groups relative to the track groups during reconfiguration of geometric shapes and steps of the staircase and obstacles. The robot reconfiguration unit is made in the form of a lever mechanism with electric cylinders, which can be self-locking. It implements the switching of the robot movement modes, as well as lifting the wheel group to the required angle for overcoming obstacles. The analysis of the design and calculation of the lever mechanism of the wheel-track robot is carried out. A kinematic model of the reconfiguration unit has been developed. Relationships between the angles and length of the levers, as well as between the angular velocity of movement of the levers and the speed of movement of the electric cylinder pusher of the lever mechanism are obtained. Optimization of the reconfiguration block operation by creating its mathematical model for programming in the Matlab package is done. The target function and restrictions on the system operation have been determined. As a result, improved mechanical characteristics of the reconstruction unit are obtained.
About the Authors
Que Wu
Moscow Polytech
Russian Federation
Russian Federation
Wu Que, Postgraduate Student
Moscow, 107023
M. Yu. Rachkov
Moscow Polytech
Russian Federation
Russian Federation
Moscow, 107023
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Review
For citations:
Wu Q., Rachkov M.Yu. Calculation and Optimization of the Wheel-Track Mobile Robot Reconfi guration Mechanism. Mekhatronika, Avtomatizatsiya, Upravlenie. 2022;23(4):209-215. (In Russ.) https://doi.org/10.17587/mau.23.209-215
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