Development of the basic principles of designing manipulators of mobile robots of special purpose adapted for work with dangerous objects
The concept of development of the theory of designing of manipulators of mobile robots on the basis of the put forward idea of division of processes into various groups - macroprocesses and microprocesses is offered. Effective theoretical methods of research of working processes on the basis of stochastic tensor fields, generalized functions and screw calculus adapted to the tasks of research of mobile robot manipulators are applied.
The theory of design of manipulators of mobile robots of special purpose in the direction of improvement of their geometrical, force static, kinematic and dynamic characteristics is developed. A significant increase in the accuracy of manipulators is justified, taking into account the parameters of dangerous objects, the impact of various road conditions and dynamic random processes that occur in the manipulators of mobile robots.
Dynamic loads on mobile works during firing and during bursts are determined. The considered processes are caused by subsidence of the soil and the factors determining the survivability of military robots under the action of shock loads on them.
Features of working processes of the caterpillar propulsion are established and recommendations on compensation of negative influence of drives of a running gear on indicators of dynamic accuracy and efficiency of manipulators of mobile robots are given.
Theoretical positions are confirmed by development and approbation of a number of experimental samples of mobile robots. In particular: with the manipulator of lever type; with optical positioning system; with a manipulator based on mechanisms with parallel kinematic structures.