Modeling of contact interaction mechanics of the walking robots’ support elements at high tractive efforts

Modeling of contact interaction mechanics of the walking robots’ support elements at high tractive efforts

Vadim V. Chernyshev
Doctor of Technical Science, Volgograd State Technical University (VSTU), Associate Professor, Professor of the Theoretical Mechanics Department, 28, Lenin pr., Volgograd, 400005, Russia, tel.: +7(960)883-57-25, This email address is being protected from spambots. You need JavaScript enabled to view it.

Anton A. Goncharov
PhD in Technical Sciences, VSTU, Senior Research Scientist, 28, Lenin pr., Volgograd, 400005, Russia, tel.: +7(8442)248-113, This email address is being protected from spambots. You need JavaScript enabled to view it.

Vladimir V. Arykantsev *
VSTU, Teaching Assistant of the Teaching Assistant of the Automatic installations Department, 28, Lenin pr., Volgograd, 400005, Russia, tel.: +7(988)497-57-75, This email address is being protected from spambots. You need JavaScript enabled to view it.


Received 14 December 2018

Abstract
When doing carrying out ground works in the conditions of deficiency of adhesion weight, for example, caused by the weakened gravitation, the walking mover can provide higher traction properties in comparison with wheeled and tracked machines. The paper discusses the method and some results of finite element modeling of the mechanics of contact interaction of support elements (feet) of walking machines with soils with low bearing ability, taking into account their sufficiently large deformations. The contact task for solid feet of different shapes interacting with elastic-plastic support surface is formulated. The inverse formulation of the task was used — the reactions of the soil to the kinematic perturbation, equivalent to the normal load, which create the plastic deformation of the soil and the tangential load, simulating the relative slip of the foot were determined. A two-stage iterative algorithm for solving the considered nonlinear problem in the computational system of finite element analysis ANSYS is implemented. It is shown that at large soil deformations the deficit of adhesion weight can be compensated by a significant increasing of the adhesion coefficient.

Key words
Walking robots, planetary rovers, weakened gravity, traction properties, contact interaction, mathematical modeling, soil mechanics.

Acknowledgements
Research was carried out with financial support of Russian Fundamental Research Fund (projects no. 18-38-00624 and no. 18-41-340010), Administration of Volgograd region and Russian Federation Presidential Scholarship СП-5102.2018.1.

DOI
https://doi.org/10.31776/RTCJ.7107 

Bibliographic description
Chernyshev, V., Goncharov, A. and Arykantsev, V. (2019). Modeling of contact interaction mechanics of the walking robots’ support elements at high tractive efforts. Robotics and Technical Cybernetics, 7(1), pp.53-57.

UDC identifier:
629.785:621.865.8-182.3

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