Design features of wheel-driven multi-purpose robot platforms with the ability to transform

Abstract

The article establishes that the use of various MRP (multi-purpose robotic platforms), in particular technical, rear and medical support during hostilities, is an important factor that allows the life and health of servicemen to be preserved. MRP, in the conditions of the ever-increasing rapidity and maneuverability of the conduct of hostilities, remain an important factor in providing units with material and technical, missile-artillery and medical property, and they can also carry out the evacuation of personnel who cannot leave the battlefield on their own. The success of the combat mission depends on them, but those robotic systems that use modern technologies and have improved operational properties such as: passability, stability, and maneuverability will have an advantage over the enemy's MRPs. The structural features of the traditional wheel drive and the sources describing known technologies for the transformation of wheel drives are analyzed. A classification of well-known modern wheel drives has been developed. As one of the ways to improve operational properties, it is proposed to use a wheel drive with the ability to transform on MRP. The design of a wheel drive with the ability to transform has been developed, its constituent parts, the order of transformation are given, and its advantages of use on MRP compared to a traditional wheel drive are determined. The perspective of further research is outlined, which will consist in the development of appropriate mathematical models for describing the process of transformation of wheel drives using known kinematic pairs and the latest technologies, as well as their modeling in the Solid Works software environment. It was determined that the research of the transformation process of the MRP wheel drive also involves the use of: new principles of drive mechanisms, fractal geometry for describing object transformations, the finite element method, homology, affine transformations, functions of complex variables.