Experimental Theoretical Study of the Mobile Robotic System Movement with Caterpillar-modular Propulsion on the Beach Line Terrain

Alexander Belyaev, Alexey Papunin, Evgeny Zharkov, Alexey Vasiliev, Vladimir Belyakov, Vladimir Makarov

Abstract

This article presents the data for mobile robotic system motion modeling with caterpillar-modular propulsion on the sand support base. The study provides the basics of the development of the calculation model in Adams Tracked Vehicle amid mass and geometric chassis parameters and characteristics of nonrigid soil. The study presents the 3D views of the model created. The study provides the fragments of curvilinear motion. The study provides graphs of behavior moments for chassis beads, as well as shows the total resistance to motion on sandy beach. The mean of the moment on one bead during linear motion amounted to 172 Nm, during curvilinear 195 and 217 Nm respectively for backward and overleaping chassis beads. The mean resistance to motion during linear motion amounted to 1606 N, during curvilinear to 1943 N. To validate the results of the modeling we have conducted experimental studies.

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Paper Citation


in Harvard Style

Belyaev A., Papunin A., Zharkov E., Vasiliev A., Belyakov V. and Makarov V. (2020). Experimental Theoretical Study of the Mobile Robotic System Movement with Caterpillar-modular Propulsion on the Beach Line Terrain.In Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-419-0, pages 567-572. DOI: 10.5220/0009794705670572


in Bibtex Style

@conference{vehits20,
author={Alexander Belyaev and Alexey Papunin and Evgeny Zharkov and Alexey Vasiliev and Vladimir Belyakov and Vladimir Makarov},
title={Experimental Theoretical Study of the Mobile Robotic System Movement with Caterpillar-modular Propulsion on the Beach Line Terrain},
booktitle={Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2020},
pages={567-572},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009794705670572},
isbn={978-989-758-419-0},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Experimental Theoretical Study of the Mobile Robotic System Movement with Caterpillar-modular Propulsion on the Beach Line Terrain
SN - 978-989-758-419-0
AU - Belyaev A.
AU - Papunin A.
AU - Zharkov E.
AU - Vasiliev A.
AU - Belyakov V.
AU - Makarov V.
PY - 2020
SP - 567
EP - 572
DO - 10.5220/0009794705670572