DESIGN FEATURES OF THE MANIPULATOR-MOTOR FOR MULTI-PURPOSE ROBOTIC PLATFORMS

It has been established that the use of multi-purpose robotic platforms (MPRP), as one of the types of ground robotic complexes, is an important factor that allows preserving the life and health of servicemen on the battlefield. It was found that the movement of MPRP, and as a result, the performance of assigned tasks, is often limited (loss of stability and passability) as a result of difficult terrain areas, or as a result of destruction caused by enemy fire. The well-known approaches that allow to ensure the multi-functionality of individual parts of the MPRP to improve their stability and passability were analyzed and it was established that they do not realize in their design features the use of multi-functional manipulators, which, if necessary, can perform the functions of a stepping or wheel drive. A new approach is proposed, which consists in the application of multi-functional manipulators (manipulators-movers) on the MPRP, which, in the event of extreme movement conditions, can, in addition to the manipulator function (grab, transfer of objects), perform the function of a walking or wheeled mover (ensuring movement over areas of the terrain). The results of designing and modeling in the Solid Works software environment are presented. An analysis of the design features of the manipulator-mover for MPRP was carried out and it was established that the multi- functionality of the manipulator-mover is implemented by introducing new elements and connections, in particular, in the manipulator mode, with minimal mass-dimensional parameters, an increase in the available space is achieved with the possibility of endless rotational movements of the captured object in any direction, and in the driver mode, when four manipulators-drivers are located on top of the MPRP in pairs, symmetrically on both sides, the functions of stepping or wheel drivers are provided.