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

and Vladimir Makarov

Nizhny Novgorod State Technical University n.a. R.E. Alekseev, Minin St., 24, Nizhny Novgorod, Russian Federation

GAZ Group's United Engineering Center, Nizhny Novgorod, Russian Federation

Keywords: AMRC, Modeling, Caterpillar-modular Propulsion, Beach Line Terrain, Adams, ATV, Unmanned Ground

Vehicles.

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 non-

rigid 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.

1 INTRODUCTION

The monitoring of beach line terrain can be done

with the help of fixed stations, research equipment

can be installed on a special mobile robotic system

(Barber and Mills 2007, Belyakov et al. 2017, Bio et

al. 2015, Didier et el. 2015, Incoul et al. 2014,

Kramer and Hunter 2007, Kurkin et al. 2015, 2017,

Serra et al. 2005, Wübbold et al. 2009, Zaytsev at. al

2017).

To solve the issue of providing movement for

mobile robotic systems, it is necessary to choose

chassis with the most suitable parameters for

operating conditions, as well as for the requirements

of the attached list of active jobs.

Depending on the issues needed we can use a

different mathematical apparatus for modeling

motion and interaction of propulsions with the

surface lane. One of the ways is the imitational

modeling using the MSC.ADAMS program.

However, a test on the real-life object is needed to

https://orcid.org/0000-0002-4423-5042

confirm calculations. This object is the autonomous

mobile robotic system created at the Nizhny

Novgorod State Technical University n.a. R.E.

Alekseev (Belyakov et al. 2017, Kurkin et al. 2015,

2017, Tyugin at. al 2018, Zaytsev at. al 2017). The

unique feature of AMRC is the possibility of

installation wheel, caterpillar-modular and rotary-

screw propulsion. This article presents the issue of

chassis motion modeling with modular-caterpillar

propulsion.

2 THEORETICAL RESEARCH

To study AMRC we used a special application in the

Adams environment, which allowes to model

vehicles on caterpillar tread. Using Adams Tracked

Vehicle (ATV) we created the design of caterpillar

machines, as well as modeling of their movement

with different speeds on rigid or non-rigid soil.

2.1 Assumptions

The study have implied the following assumptions:

Belyaev, A., Papunin, A., Zharkov, E., Vasiliev, A., Belyakov, V. and Makarov, V.

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

DOI: 10.5220/0009794705670572

In Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS 2020), pages 567-572

ISBN: 978-989-758-419-0

567

 body, road rollers, tracks assumed to be in the

shape of completely rigid bodies;

 caterpillar thread consists of tracks,

interconnected by force interaction;

 tracks, road rollers have contact interaction with

support base;

 support base is described using the Becker’s

model;

 soil pickup on the propulsion is absent;

 the control of the movement trajectory

implemented using the PID regulator, where the

input signal is the distance between the set

movement trajectory and a «checkpoint» on the

caterpillar machine body, and the output signal –

turning moment on the crawler wheels.

2.2 Movement Model

Software package MSC.ADAMS designed to

address the problem of rigid body dynamics and

uses the system of differential-algebraic equations.

The base for the equation system, describing the

dynamic of system n of rigid bodies,under the

influence of m stated force and limited m holonomic

constraints, is made in the form of Euler-Lagrange

equations with multipliers.

Euler’s equations for forward running:

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Euler’s equations for rotary movement:

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2.3 Machine Model Design in ATV

АМРК consists of the body and four caterpillar

modules, consisting of track suport roller, the

crawler wheel and caterpillar track.

The body has geometric paramenters and mass-

inertia characteristics. Apart from the mass and

moments of body inertia, relative to the main axes,

the coordinates of the location of gravity center are

preset.

The crawler wheels with the radius of 215 mm.

bring in motion caterpillar encircling using the

toothing with caterpillar tracks. The toothing of the

crawler wheel and tracks is done using contact

interaction with each of the tracks of caterpillar

encircling. In figure 1 (left) shown the visualisation

of crawler wheels.

Caterpillar encircling of each module consists of

29 tracks at 99 mm. intervals. Figure 1 (right) shows

track visualization.

Figure 1: Crawler wheel and track visualization.

As a result of chassis development in ATV

environment we obtained the following view of

AMRC. Figure 2 presents the side view and 3/4.

Figure 2: AMRC model in ATV. Side view and 3/4.

2.4 Non-rigid Support Base Design in

ATV

Non-rigid soil model has a «memory» and keeps a

history of loading. In ADAMS programming system

Tracked Vehicle model nonrigid soil visualized in

the shape of rectangular net, where each element has

a history of loading.

The process of design non-rigid support base in

ATV programming system narrows down to

choosing a property file soil (Ageykin et al., 2010,

Ageykin and Volskaya, 2003, 2008, Bekker, 1960,

Wong, 2010) with preset characteristics from

database.

Property file of non-rigid support base is made as

a set of experimental evidence coefficiencies,

describing one or another soil type. Figure 3 presents

VEHITS 2020 - 6th International Conference on Vehicle Technology and Intelligent Transport Systems

568

an example of popup window, which contains the

coefficients, necessary for description of parameters

of vertical, lengthway and side force between

supporting base and caterpillar chain track.

Figure 3: Coefficients necessary for description force

interaction non-rigid support base and caterpillar chain

track.

AMRC views on nonrigid soil are shown in

Figure 4.

Figure 4: AMRC on non-rigid soil.

2.5 AMRC Motion Modeling in ATV

For the designed AMRC model we have conducted a

motion modeling on bearing surface with

characteristics close to a sand surface beach line

terrain. The modeling have studied two types of

motion: linear and 180 degree turning with turning

radius to chassis center equals to 5 meters.

Figure 5 demonstrates the fragments of

curvilinear motion.

Figure 5: AMRC curvilinear motion.

As a result of turning on linear and curvilinear

trajectory we obtained the graphs of turning moment

and power on main crawler wheels. We obtained the

values for wheel spinning. The maximum motion

speed was preset at 25 km/hr.

Figure 6 (top) demonstrates examples of turning

moment changes on the main wheels of caterpillar

modules of one bead during linear motion. In figure

6 (bottom) shown the moments on main wheels of

caterpillar modules during the turn.

On grahs in figure 6 (bottom) positive values

correlate to moments on the outside of AMRC,

negative on the inside. The mean of moment on one

bead during linear motion amounted to 172 Нм,

during curvilinear to 195 и 217 Nm respectively for

backward and overleaping chassis beads.

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

569

Figure 6: Turning moment behavior graphs.

Figure 7: Behavior graphs of motion resistance force of

AMRC on the sand.

Figure 7 present the change of motion resistance

force of linear motion (top) and curvilinear (bottom)

motion. The mean for linear motion amounted to

1606 N, for curvilinear to 1943 N.

The evidence correlates to conducted

experimental studies.

Figure 8: Experimental studies fragments.

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570

3 THEORETICAL RESEARCH

For choosing input data for modeling we have

conducted experimental data for sampling of AMRC

motion resistanse and parameters of support ground.

(Belyaev et al., 2018, 2019 Kurkin et al., 2017,

Makarov et al., 2017) Figure 8a shows AMRC

motion moment alongside shore line. Figure 8b

shows a sampling fragment of resistance force. An

additional vehicle pulled AMRC through the wire

rope with load cell. Figure 8c demonstrates the

moments of sampling physicomechanic

characteristics sand shore. The left side demonstrates

the sampling of resistance of penetration, the right -

soil density.

From the data received we have obtained soil

characteristics included in soil model in ATV. The

mean motion resistance amounted to 1600 N

(Belyaev et al., 2018, Belyaev & Makarov, 2018).

These data was used for model checkout during

AMRC linear motion.

4 CONCLUSIONS

The study presented basic motion equations used in

MSC.ADAMS for machine modeling motion.

The study lists the assumptions used in the

model.

The study designes the AMRC model with

caterpillar-module propulsion.

We have obtained the modeling of linear and

curvilinear AMRC motion on sand support base.

The results include model parameters behavior

graphs in time. As a result, the mean of moment on

one bead during linear motion amounted to 172 Nm,

during curvilinear to 195 and 217 Nm respectively

for backward and overleaping chassis beads. The

mean of motion resistance during linear motion

amounted to 1606 N, during curvilinear to 1943 N.

The experimental studies present the sampling of

resistance force on the real-life object at beach line

terrain. The mean motion resistance amounted to

1600 N.

Amid the experimental data findings adjustments

were made to the model of interest.

The future studies include modeling of on-the-

spot machine turn, the movement on other types of

support bases, the evaluation of operational

efficiency at beachline terrain.

ACKNOWLEDGEMENTS

The results of the given study have been obtained

with financial support of the grants of the President

of the Russian Federation № MD-226.2020.8.

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