Reconfigurable Autonomous Wheel-Tracked Robot

摘要

The article describes the results of research of a new transport robot type with enhanced functionality due to the possibilities of overcoming various obstacles as well as high-speed motion along even surfaces by reconfiguring its structure to a kind of the motion surface. The robot allows automating various types of work in zones of increased danger to humans and in hard-to-reach areas. The robot has two tracked drives located on the technological platform sides, and two wheel drives mounted to the front and back parts of the platform between the tracked groups. The axles of the wheel drives are connected with the platform by means of levers. The robot has wide opportunities to move over rough terrain as well as to overcome the obstacles of various shapes, including obstacles with a height greater than the height of the tracked groups. A kinematic model of the robot has been developed for the study of various modes of robot movement. The experimental model with a remote control based on standard components has been implemented. The efficiency of the experimental model was tested with remote manual control over the radio channel. The system stability was evaluated by program methods. The simulation and experimental results are given.