Selection of the characteristics of the suspension system of the high-speed tracked robot

Abstract

Currently, the field of mechanical engineering is rapidly developing, including the creation of robotic high-speed vehicles. The design of suspension systems for such vehicles must be accompanied by the fulfillment of certain requirements, which are currently not formulated. Considering the thing that there is no person in the body of a high-speed robot, the application of the requirements for the suspensions of crew vehicles is not justified. In order to develop recommendations on the choice of characteristics of suspension systems for high-speed tracked robots, the research objects, which mass is in the range from 1000 to 10000 kg are determined. No suspension system is required for objects weighing less than 1000 kg. Objects weighing more than 10,000 kg will be created on the basis of existing serial vehicles. The study is based on the provision that the considered class of vehicles is not subject to restrictions on the range of natural frequencies of body vibrations. Considering that one of the main requirements remains for high-speed tracked robots - ensuring a high average speed, it is proposed to increase the suspension stiffness in order to exclude resonance from the range of possible travel speeds. Using the accepted provisions, a study of the suspension system of increased stiffness is carried out. The movement along the tracks of a harmonic profile in resonance mode and a broken dirt road is simulated. The results of the study show that the characteristics of the suspension system, selected according to the proposed method, make it possible to move along the line of the harmonic profile in the resonant mode without suspension breakdowns. The speed of movement on a broken dirt road is limited to a value, which exceeding leads to significant vibrations of the body and an increase in the load on the elements of the suspension system. The absence of breakdowns leads to a decrease in the loading of the suspension, which makes it possible to reduce the mass of its elements.

Keywords

unmanned vehicles / high-speed tracked robots / characteristics of the suspension system

References

[1] РИА Новости. Боевой робот «Уран-9» приняли на вооружение российской армии. URL: https://ria.ru/20190124/1549807789.html (дата обращения 17.07.2020).

[2] M. Ball. Unmanned System Technology. Multy-Mission Battlefield UGV Launched. URL: https://www.unmannedsystemstechnology.com/2019/10/multi-mission-battlefield-ugv-launched/(дата обращения 17.07.2020).

[3] Абрамов Б.А., Брагин Ю.И., Вавилов Е.В. Теория и конструкция танка. Т. 6. Вопросы проектирования ходовой части военных гусеничных машин. М.: Машиностроение, 1985. 244 с.

[4] Дядченко М.Г., Котиев Г.О., Сарач Е.Б. Конструкция и расчет подвесок быстроходных гусеничных машин. Часть 1. М.: Издательство МГТУ им. Н.Э. Баумана, 2007. 40 с.

[5] Дмитриев А.А., Чобиток В.А., Тельминов А.В. Теория и расчет нелинейных систем подрессоривания гусеничных машин. М.: Машиностроение, 1976. 207 с.

RIGHTS & PERMISSIONS

Sarach Y.B., Tkachev Y.A., Krokhin M.E.