Main Catalog Mechanical Engineering and Machine Science Robots, Mechatronics, and Robotic Systems

Development of a mechanical transmission and a steering system for a universal robotic tracked platform of high cross-country ability

Authors: Rumyantseva A.A.
Published in issue: #12(65)/2021
DOI: 10.18698/2541-8009-2021-12-757
Category: Mechanical Engineering and Machine Science \| Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: versatility, increased cross-country ability, mobile robotic complex, tracked platform, modernization, mechanical transmission, variator, drive, control, simulation
Published: 15.12.2021

The author investigated the relevance of the development of a universal robotic tracked platform with increased cross-country ability for solving problems of rescue services, such as patrolling, reconnaissance, dismantling debris, extinguishing fires, and transporting goods. The mechanical transmission (variator) of the platform has been modernized, which provides the ability to connect a drive to it, which will directly affect the gear ratio. The design of the drive has been developed, and a model for the debugging stand of the drive of the active variator has been proposed. The problem of the implementation of steering control has been solved. A proprietary steering system has been developed, and a kinematic diagram of the proposed method has been drawn up and described. Simulation has been carried out, which confirms the efficiency of the developed steering method.

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