Creation of remote controlled platform of mobile robot for demining of high passage and maneuverability
A concept has been developed for the creation of a small-sized universal base chassis of a robot of high cross-country ability and maneuverability, which combines minimization of the dimensions and weight of mobile robots, a reduction in production costs due to a decrease in resource and material consumption, a significant expansion of the scope of use of mobile robots in areas where traditional large-sized equipment cannot be applied , the implementation of which is based on the use of chassis kinematic schemes, providing high cross-country ability on rough terrain and in houses with the ability to overcome typical obstacles (escarp, railroad tracks, staircases, turn in place, passage through door sections). It is shown that the most advanced and promising are two kinematic schemes of a high cross-country chassis, which are able to overcome all typical obstacles with practically no increase in their own dimensions - these are two types of 8 wheeled 4-lever chassis with rotating levers (thrown over), in which the positions of the axis of rotation of the levers differ - in the middle, or coaxial with one of the wheels. The propeller wheel of the chassis, in comparison with the tracked one, ensures the maximum range of the chassis. On the basis of the comprehensive studies carried out, a combination of a ground-based remotely controlled chassis and an unmanned aircraft system has been proposed for the first time. The effectiveness of the concept was tested on the created and tested experimental samples of wheeled chassis and an airmobile robotic complex. The developed universal chassis of high cross-country ability and maneuverability is a basic platform for the development, design and production of various remote-controlled robotic systems for a wide range of purposes: for work in accidents and emergencies, for performing tasks on rough terrain, on rubble, in houses, with the ability to go through the door openings of rooms and overcome flights of stairs of floors and basements.