Abstract

For the development of modern science and technology robots and robotic systems are used in many industries, including construction, geological exploration, the repair utilities, the performance of special missions, including dangerous tasks to life or health (liquidation of various accidents, consequences of emergencies, working in dangerous environments), etc. [1]. Sophisticated robotic systems have application for planetary studies [2]. Therefore, scientific and applied research related to the improvement of existing robotic systems or developing new systems are relevant and have practical significance. In addition, the design of such systems considers increased requirements for size, terrain, autonomous operation (mobility) and the range of tasks. The development of robotic systems makes it necessary to develop new mathematical models for solving application problems, including the problems of kinematic and dynamic analysis. Currently, there are enough common approaches for solving such problems, suggesting the involvement of one or more computer aided design. This approach, however, can significantly reduce the terms of developed chassis design to get acceptable accuracy and data on their key performance indicators. The large number of kinematic schemes of chassis defines many publications devoted to the study of their dynamics and solving various applied problems [4, 5, 6]. However, a common drawback of such studies is often narrow area of their application. This paper discusses issues related to the dynamics of a wheeled chassis class 8K4P [3] based on its quasi-static model. In a context, this work may be interpreted as the development of studies started in [8] in which methods of solving the problem of kinematic analysis of the chassis was presented. As a criterion of the profile ability to overcome obstacles complex parameter, that takes into account weight and geometrical characteristics of the chassis, its kinematic characteristics and adhesion to the supporting surface, was proposed. To preserve the mobility chassis in overcoming the obstacles this parameter must be positive. As the settlement situation overcoming of chassis of stairway and a single ledge was considered. Numerical experiments showed that for the comparable values of wheel diameter and height of stairs the preserving of mobility is possible with a finite number of steps of stairway, or through a significant shift of the center of mass relatively the original position. However, the obtained minimum value of parameter is close to zero, indicating the relevance of using some more complex schemes of mover to overcome obstacles discussed in the work.

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