COMPONENTS OF HYDRAULIC CONTROL SYSTEMS FOR WHEELLESS GROUND ROBOTIC COMPLEXES

The article addresses the development of components for hydraulic control systems of wheelless ground robotic complexes with high terrain mobility. Typical wheelless ground robotic complexes are considered. They have a central section that slides along the surface using inertial propulsion devices and is equipped with long, flexible peripheral elements, 2–3 m in length, with knives, saws, or milling cutters mounted at their ends to break down obstacles. The complex has a large manipulator, approximately 4 m in length, which provides surface inspection and examination, orientation, and communication. Wheelless ground robotic complexes include special units, hydraulic drives, and hydraulic control systems using industrial water as the working fluid. It is proposed to implement them using innovative components based on high-pressure jet and vortex devices and units operating at approximately 25 MPa. The developed schematic solutions for innovative jet and vortex devices are presented. The hydrodynamic processes in the devices were investigated theoretically and experimentally. It was established that singular flow regions, where the rate-of-strain tensor becomes degenerate, determine the operating processes of jet and vortex devices. The results of studies of the static and dynamic characteristics of the jet devices forming the set of components are presented. A structural design and manufacturing methods are proposed for small channels, approximately 0.3 mm in size, with increased wear resistance. The manufacturing methods were tested using experimental prototypes that were designed and manufactured.