On the Control of Traction Characteristics and Resistance to Movement of Mobile Robots with Walking Propulsion Devices

The problem of increasing the traction and dynamic properties of mobile robots with walking propulsion devices is considered. The interdependence of the traction forces developed by the propulsion devices and the forces of resistance to the movement of robots, due to their interaction with the environment, is analyzed. A mathematical model is proposed based on the quasi-static nature of the robot’s movement and taking into account the static uncertainty of the problem. Static indeterminacy is due to the presence of propulsion devices on each of the sides and interacting with the supporting surface in the amount of more than two. A feature of the solution is also taking into account the gait and schedule of the robot’s movement, which characterize the time sequence of the propulsion devices being in the phase of interaction with the supporting surface and in the phase of transfer to a new position. The gait is also characterized by the mode coefficient, which is the ratio of the time the propulsion device is in the stance phase to the total time of the cycle of its movement. An optimality criterion is introduced on the basis of which the design perfection of the propulsion devices and the place of their installation on the robot is evaluated. The optimality criterion consists of two indicators: the value of the maximum traction force and the average force of resistance to movement. The tractive force is assumed to be proportional to the sum of the maximum normal loads acting on each propulsion device unit, and the resistance force to the squares of the same loads. Simulation modeling has been carried out, proving the dependence of the magnitude of traction properties and the forces of resistance to movement on the location of the propulsion devices. Two systems of vertical arrangement of the points of suspension of propulsion devices were compared. It has been established that a sufficiently small change in the vertical coordinate of the suspension point of even one propulsion devices has a noticeable change in the maximum traction forces and movement resistance forces. It is concluded that by adjusting the vertical position of the propulsion devices foot relative to the robot body, it is possible to control the traction properties and movement resistance, as well as the importance of the positioning accuracy of the foot of the propulsion devices walking mechanism during movement.

1. Политехнический словарь / Гл. ред. акад. И. И. Артоболевский. М.: Сов. энциклопедия, 1976. 608 с.

2. Брискин Е. С., Серов В. А., Шаронов Н. Г., Пеньшин И. С. Об особенностях управления движением мобильных роботов с движителями якорно-тросового типа // Экстремальная робототехника. 2017. Т. 1, № 1. С. 336—343.

3. Гуськов В. В., Велев Н. Н., Атаманов Ю. Е. и др. Тракторы: Теория: "Автомобили и тракторы" / Под общ. ред. В. В. Гуськова. М.: Машиностроение, 1988. 374 с.

4. Смирнов Г. А. Теория движения колесных машин. М.: Машиностроение, 1990. 352 с.

5. Игнатьев М. Б., Кулаков Ф. М., Покровский А. М. Алгоритмы управления роботами-манипуляторами. М.: Машиностроение, Ленингр. отд., 1972. 248 с.

6. Брискин Е. С. Об общей динамике и повороте шагающих машин // Проблемы машиностроения и надежности машин. 1997. № 6. С. 33—39.

7. Брискин Е. С., Жога В. В., Чернышев В. В., Малолетов А. В. Динамика и управление движением шагающих машин с цикловыми движителями. М.: Машиностроение, 2009. 191 с.

8. Гориневский Д. М., Шнейдер А. Ю. О динамике малых движений шагающего аппарата при наличии обратной связи по опорным реакциям // Известия Академии наук СССР. Механика твердого тела. 1987. № 6. С. 397.

9. Шнейдер А. Ю., Гориневский Д. М. Управление опорными реакциями шагающего аппарата при движении по грунтам с различными несущими свойствами // Институт проблем передачи информации АН СССР. Препринт. М.: ИППИ. 1986. 72 с.

10. Смирная Л. Д. Об оптимальном распределении нормальных реакций шагающих движителей подводных роботов // Известия Волгоградского государственного технического университета. 2019. № 3(226). С. 47—50.