Обгрунтування раціональності застосування комбінованого рушія на наземних роботизованих комплексах

The article develops theoretical provisions on the justification of the rationality of the use of combined engines on ground robotic complexes (GRCs) based on the analysis of stability and cross-country ability. It was found that a significant factor affecting the features of the movement of a walking GRC and the requirements for its mass and dimensions is the gait or method of locomotion of the GRC, which involves the coordinated movement of various components of the limbs and the platform when moving the GRC from one place to another. It was established that in the case of a walking GRC with four limbs, when all four limbs are in contact with the surface, they form a quadrangular support area. The larger this area, the greater the potential stability. The main types of obstacles and their impact on the movement of the GRC with the necessary level of its adaptation are indicated. It was found that the obstacle overcoming height for a wheeled GRC mainly depends on the wheel dimensions and the hardness of the threshold. The maximum height of the threshold overcome by a full-wheel drive GRC is 0,3-0,5 of the wheel radius, and by a full-wheel drive 0,5-0,8. The size of the wheel also affects the overcoming of pits (ditches). A number of computer simulations have been conducted to compare the wheeled and walking engines and it has been established: during the movement of the GRC under favorable conditions (asphalt, dirt road) both engines function properly, but on difficult terrain (sand, swamp, stones) - the walking GRC is significantly superior to the wheeled one; when overcoming threshold obstacles with a height of 10 to 50 cm, the walking GRC manages to achieve success with higher obstacles; in terms of energy consumption - the wheeled GRC has an advantage only on hard surfaces, and when overcoming other types of terrain, more energy is spent on overcoming 1 m than in the case of the GRC with a walking engine; wheeled GRC will have an advantage in speed over walking, but in real conditions, starting from sandy terrain, a loss of patency is possible. So, a wheeled engine provides a better speed of GRC in favorable conditions for movement, but it functions worse in unfavorable conditions. A walking engine provides a lower speed of movement of GRC, but it will still function better under unfavorable conditions. Thus, the rationality of the approach to the use of a combined engine is established. The advantages of using a combined engine (wheeled-walking) when overcoming various types of obstacles are presented. Algorithms for overcoming the corresponding obstacles when specific conditions are met are proposed. A comparative characteristic of GRC with different types of engines is developed, which shows their advantages and disadvantages.