Features of slopes overcoming by walking devices

Features of slopes overcoming by walking devices

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

Vladimir V. Arykantsev
VSTU, Theoretical Mechanics Department, Junior Research Scientist, 28, Lenin pr., Volgograd, 400005, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.
Irina P. Vershinina, PhD in Technical Sciences, VSTU, Theoretical Mechanics Department, Assistant Professor, 28, Lenin pr., Volgograd, 400005, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Anton A. Goncharov
PhD in Technical Sciences, VSTU, Theoretical Mechanics Department, Senior Research Scientist, 28, Lenin pr., Volgograd, 400005, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Nikolay G. Sharonov
PhD in Technical Sciences, Associate Professor, VSTU, Theoretical Mechanics Department, Assistant Professor, 28, Lenin pr., Volgograd, 400005, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 15 December 2020

Abstract
For mobile robots designed to work in extreme conditions, an important characteristic is the value of the overcoming slope. For wheeled and tracked vehicles, the angle of the overcoming slope is limited by the adhesion properties of the soil. The walking device can provide overcoming of higher slopes, since the analogue of the adhesion coefficient for walking machines, with a large footprint track depth, can be significantly greater than 1. The paper discusses the results of experimental studies of the features of overcoming slopes by a walking device in weak soil conditions. When mobile robots overcoming inclines, they may overturn or slide downhill. It is shown that on soft soils the sliding of walking machines downhill is unlikely because of significant deformations of the soil under the support elements. On the other hand, the deformation of the soil worsens the resistance of the walking vehicle to overturning. A method of increasing resistance to overturning by controlling the position of the robot body by separately regulating the conditional clearance of walking mechanisms is considered. The possibility of adjusting the clearance in the propulsion unit on the basis of Umnov-Chebyshev cyclic walking mechanisms is shown. Climbing slopes requires a certain amount of traction. The values of the additional power and the force characteristics of the walking device’s drive necessary for successful overcoming of slopes have been determined. The results of the work can be demand in the development of walking machines and mobile robots.

Key words
Mobile robots, walking machines, interaction with the ground, traction and coupling properties, overcoming slopes, tipping resistance, mathematical modeling, field tests.

Acknowledgements
Research was partially supported by RFBR and the Administration of the Volgograd region, research projects no. 19-08-01180 a, 19-48-340007 p_a.

DOI
https://doi.org/10.31776/RTCJ.9309

Bibliographic description
Chernyshev, V., Arykantsev, V., Goncharov, A. and Sharonov, N., 2021. Features of slopes overcoming by walking devices. Robotics and Technical Cybernetics, 9(3), pp.234-240.

UDC identifier:
629.365

References

  1. Zabavnikov, N.A., 1975. Osnovy Teorii Transportnyh Gusenichnyh Mashin [Fundamentals of the Theory Of Transport Tracked Vehicles]. Moskow: Mashinostroenie Publ., p.448. (in Russian).
  2. Gus'kov, V.V., 1988. Traktory. Teorija [Tractors. Theory]. Moscow: Mashinostroenie Publ., p. 375. (in Russian).
  3. Kemurdzhian, A.L., 1993. Planetohody [Rovers]. Moscow: Mashinostroenie Publ., p.400. (in Russian).
  4. Briskin, E.S. et al., 2013. Comparative analysis of wheeled, tracked and walking machines. Robotics and Technical Cybernetics, 1, pp.6-14. (in Russian).
  5. Chernyshev, V.V., Goncharov, A.A. and Arykancev, V.V., 2019. Modeling of contact interaction mechanics of the walking robots’ support elements at high tractive efforts. Robotics and Technical Cybernetics, 1(22), pp.53–57. (in Russian).
  6. Chernyshev, V.V. et al., 2020. Zakonomernosti kontaktnogo vzaimodejstvija malorazmernyh opornyh jelementov shagajushhih mashin so slabonesushhimi gruntami [Regularities of contact interaction of small-sized supporting elements of walking machines with weak soils]. Traktory i sel'hozmashiny, 3, pp.54-61. (in Russian).
  7. Chernyshev, V.V., 2004. Polevye issledovanija shagajushhih mashin [Field research of walking devices]. Traktory i sel'skohozjajstvennye mashiny, 4, pp.20-22. (in Russian).
  8. Briskin, E.S. et al., 2009. O pozicionnoj zavisimosti tjagovo-scepnyh svojstv shagajushhih mashin s ciklovymi dvizhiteljami [On the positional dependence of the traction and coupling properties of walking devices with cyclic actuators]. Traktory i sel'hozmashiny, 6, pp.21-25. (in Russian).
  9. Chernyshev, V.V. and Arykancev, V.V., 2015. MAK-1 – underwater walking vehicle. Robotics and Technical Cybernetics, 2, pp.45-50. (in Russian).
  10. Chernyshev, V.V., 2016. Design and underwater tests of subsea walking hexapod MAK-1. In: Proceedings of the ASME 2016 35th International Conference on Ocean, Offshore and Arctic Engineering OMAE2016, p.9.
  11. Volgograd State Technical University (VSTU), 2001. Shagajushhaja opora dlja transportnyh sredstv povyshennoj prohodimosti [Walking support for off-road vehicles]. RF 2207283.
  12. Chernyshev, V.V. and Arykancev, V.V., 2017. Tsiklovoj mehanizm shaganija s transformiruemoj traektoriej opornoj tochki [Cyclic walking mechanism with transformable reference point trajectory]. Teorija mehanizmov i mashin, 15(2), pp.71-79. (in Russian).
  13. Volgograd State Technical University (VSTU), 1999. Shagajushhaja opora dlja transportnyh sredstv povyshennoj prohodimosti [Walking support for cross-country vehicles]. RF 2156711.
  14. Chernyshev, V.V., Arykantsev, V.V. and Kalinin, Ya.V., 2017. Passive foot control in cyclic walking mechanism. In: Industrial Engineering, Applications and Manufacturing (ICIEAM 2017), p. 5. DOI: 10.1109/ICIEAM.2017.8076189.
  15. Chernyshev, V.V., Goncharov, A.A. and Arykantsev, V.V., 2017. Modeling of vibroimpact processes which occurs in feet changing of the walking units at viscoelastic grounds. Procedia Engineering, 176, pp.387-393. DOI: 0.1016/j.proeng.2017.02.336.
  16. Lapshin, V.V., 2012. Mehanika i Upravlenie Dvizheniem Shagajushhih Mashin [Mechanics and Motion Controlof Walking Devices]. Moscow: Bauman MSTU, p.199. (in Russian).
  17. Briskin, E.S. et al., 2013. Otrabotka metodov nechjotkogo upravlenija shagajushhim robotom «Ortonog» v polevyh uslovijah [Development of methods of fuzzy control of the walking robot «Ortonog» in the field]. Issledovanija naukograda, 2, pp.43-48. (in Russian).
Editorial office address: 21, Tikhoretsky pr., Saint-Petersburg, Russia, 194064, tel.: +7(812) 552-13-25 e-mail: zheleznyakov@rtc.ru