Rationale of basic parameters of reconfigurable chassis with transport system «three-star»

Rationale of basic parameters of reconfigurable chassis with transport system «three-star»

Roman Yu. Dobretsov
Doctor of Technical Sciences, Associate Professor, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Leading Engineer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-04-77; Peter the Great St. Petersburg Polytechnic University (SPbPU), Professor, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia, tel.: +7(812)775-05-30, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-3827-0220

Dmitrii S. Popov
RTC, Head of the Design Bureau, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-04-77, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0003-4575-9195

Igor B. Pryamitsyn
RTC, Head of Department, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-04-77, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0009-0007-1085-3233

Received June 30, 2023

Abstract
The features of the device and principles of operation of the planetary-wheel transport system are considered. Examples of mobile chassis designs with planetary-wheel transport system are given. In order to form recommendations on the choice of traction engine power, the features of the operation of a planetary-wheel transport system in various configurations during rectilinear movement on a horizontal surface and overcoming an ascent, in walking mode on a horizontal platform and on a ladder, during a side rotation are analyzed. The method of selecting the power of the traction motor of the wheel block is proposed and the directions of improving the layout scheme of the chassis are indicated.

Key words
Extreme robotics, mobile robot, rotation control, transport vehicle, cross-country mobility, electromechanical transmission.

Acknowledgements
The results were obtained within the framework of the state task of Russian Ministry of Education and Science in 2023 FNRG-2022-0026 1022031700007-3-2.2.2 «Research on ways to implement the adaptive stability of a ground-based modular reconfigurable robotic chassis of a light class when moving in a non-deterministic environment with various payloads».

DOI
10.31776/RTCJ.11309

Bibliographic description
Pryadko, A.I. et al. (2023). "Rationale of basic parameters of reconfigurable chassis with transport system «three-star»". Robotics and Technical Cybernetics, vol. 11, no. 3, pp. 232-239, DOI: 10.31776/RTCJ.11309. (in Russian).

UDC identifier:
629.3.023.1:007.52

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