Development of a ground mobile robot for motion in conditions of coastal zones

The solution of transport and technological problems in coastal zones by using all-terrain vehicles is relevant for the economy of the Russian Federation. When the traffic conditions change sharply and critical situations arise, ensuring the mobility of the vehicle is possible only by timely changing the basic operating modes of individual units and systems of the mobile chassis. The aim of the work is to develop the design of a mobile robot for operation in difficultto-access areas of coastlines. The robot has an independent suspension on two lateral levers with increased stroke. Elastic elements are air bags, which provide an opportunity to control the rigidity of the suspension and ground clearance. The main type of robot's mover is chassis on pneumatic wheels, but there is the possibility of installation of modular tracks. Electric transmission allows adjusting the torque on each wheel. All of the above features of the robot design contribute to significant increase in its mobility in coastal areas. The article describes the process of modeling for the design and analysis of the robot. This tool is necessary for predicting the mobility of the robot under various driving conditions (variety of profile parameters of ground surfaces, wide range of soil properties) and searching for ways to optimize its design. The obtained intermediate simulation results show that the concept and chosen parameters of the robot are reasonable.

Zeziulin D.1 , Makarov V.1 , Porubov D.1 , Kurkin A. 1, 2
Сборник материалов конференции
International Society for Terrain-Vehicle Systems
  • 1 Nizhny Novgorod State Technical University n.a. R.E.Alekseyev, street Minina, 24, Nizhny Novgorod, 603950, Russian Federation
  • 2 Institute of Space Technologies, Peoples' Friendship University of Russia, Moscow Miklukho-Maklaya str. 6, Moscow, 117198, Russian Federation
Ключевые слова
Adjustable suspension; Coastal zone; Individual wheel drive; Mobile robot
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