Evaluation of the lateral stability of a mobile robot when shooting

Authors: Kutuzov R.O.
Published in issue: #4(45)/2020
DOI: 10.18698/2541-8009-2020-4-599
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: tracked vehicle, firing stability, mobile robot, weapons and military equipment, universal mechanism, motion simulation, robotic systems, simulation, quality assessment
Published: 30.04.2020

In this work, simulation mathematical models of three tracked mobile robots with various weight and size characteristics were created in the Universal Mechanism software package. A shooting sequence with a flat supporting surface was simulated for a 7.62 mm machine gun “Object 1”, a large-caliber machine gun 12.7 mm “Object 2”, an automatic grenade launcher "Object 3", a high-speed large-caliber machine gun 12.7 mm “Object 4” , an automatic 30-mm gun “Object 5” and a single shot from a 57-mm gun “Object 6”. As a result of the simulation, we obtained graphs of the pressure forces of the tracks on the ground during firing. Based on the results obtained, a stability analysis is carried out, a generalized stability criterion for the machine is obtained, taking into account the weight and size characteristics and recoil force.

References

[1] Korchak V.Yu., Lapshov V.S., Rubtsov I.V. Perspective of development for military and special ground robots. Izvestiya YuFU. Tekhnicheskie nauki [Izvestiya SFedU. Engineering Sciences], 2015, no. 10(171), pp. 83–95 (in Russ.).

[2] Mashkov K.Yu., Naumov V.N., Kharitonov S.A., et al. Prospects of using hybrid transmission for mobile robots. Vestn. Mosk. Gos. Tekh. Univ. im. N.E. Baumana, Mashinostr. [Herald of the Bauman Moscow State Tech. Univ., Mechan. Eng.], 2010, no. S, pp. 107–112 (in Russ.).

[3] 18_UM_Caterpillar: rukovodstvo pol’zovatelya [18_UM_Caterpillar: user guidelines]. universalmechanism.com: website (in Russ.). URL: http://www.universalmechanism.com/download/80/rus/18_um_caterpillar.pdf (accessed: 13.11.2019).

[4] gs_UM_Caterpillar: rukovodstvo pol’zovatelya [gs_UM_Caterpillar: user guidelines]. universalmechanism.com: website (in Russ.). URL: http://www.universalmechanism.com/download/80/rus/gs_um_caterpillar.pdf (accessed: 13.11.2019).

[5] Zabavnikov N.A. Osnovy teorii transportnykh gusenichnykh mashin [Fundamentals of tracked vehicle theory]. Moscow, Mashinostroenie Publ., 1975 (in Russ.).

[6] Nikitin A.O., Sergeev L.V. Teoriya tanka [Tank theory]. Moscow, Akademiya bronetankovykh voysk Publ., 1962 (in Russ.).

[7] Churbanov E.V. Vnutrennyaya ballistika [Internal ballistics]. Leningrad, VAA im. Kuybysheva Publ., 1975 (in Russ.).

[8] Corner J. Theory of the interior ballistics of guns. Wiley, 1950. (Russ. ed.: Vnutrennyaya ballistika orudiy. Moscow, Inostrannaya literatura Publ., 1953.)

[9] Grave I.P. Vnutrennyaya ballistika. Pirodinamika [Internal ballistics. Pyrodynamics]. Leningrad, Izd-vo Artiller. akad. RKKA im. Dzerzhinskogo Publ., 1933 (in Russ.).

[10] Venttsel’ D.A. Vnutrennyaya ballistika [Internal ballistics]. Moscow, VVIA im. Zhukovskogo Publ., 1948 (in Russ.).

[11] Gorst A.G. Porokha i vzryvchatye veshchestva [Powders and explosives]. Moscow, Mashinostroenie Publ., 1972 (in Russ.).