The choice of the rational design of the mobile robot mover for urban environment

The development of engineering and technology makes it possible to exclude direct human work in hazardous conditions, replacing it with remote control of robotic complexes. Moreover, mobile robotic systems (MRS) of the ultralight weight category, weighing up to 30 kg, are becoming more widespread. Due to their compactness and ease of transfer from one facility to another, they have become indispensable in the urban environment, for example, when it is necessary to work after man-made accidents or terrorist attacks, for mine clearance, to eliminate the consequences of the release of toxic substances, etc. However, for ultralight MRS the process of overcoming obstacles, encountered in an urban environment and easily overcomed by people or larger machinery, can be an insurmountable task. In this regard, an urgent issue is the choice of rational design parameters of the mover. This article is devoted to the study of MRS with variable mover geometry in overcoming typical urban obstacles - curbs and stairs. At the beginning of the article, traffic conditions are described and a classification of city obstacles is given for the reasons for their occurrence and the difficulty to overcome. Further, the article presents the options for mover used in super-light weight category of MRS. The analysis of mover, that is more suitable for urban conditions and requirements for the dimensions of the chassis of MRS are given. In the main part of the article, a study of the dynamics of the movement of MRS weighing 25 kg in the “Universal Mechanism” software for overcoming a vertical step of 0.11 m high (as a typical example of entering a curb) and a staircase with five steps and dimensions for one step are 0.330x0.145 m is presented. Based on the results of the simulation, the conclusions were drawn and the relationship between the recorded overloads acting on the MRS body and the linear dimensions of MRS chassis were shown.

simulation mathematical modeling, dynamic model, mobile robot, caterpillar mover, universal mechanism