Some Details of the Development of Mobile Robot Platforms
At the present time robotic systems are more actively applied in industry and agriculture, having the aim to replace people or make their work easier. One of the directions of such robotic systems development is that of mobile platforms intended for transportation and operational support of specialized equipment for land cultivation. Also the mobile platforms can be used for operation in harmful and dangerous conditions.
VNIITRANSMASH has 30 years experience in the development, manufacturing and testing of planetary rovers and mobile platforms with masses from 5 to 1000 kg. Principles and methods of locomotion, on the basis of which a mobile platform intended for specific conditions of work on the land could be developed, are of particular interest.
The paper presents the details of different locomotion modes using the examples of developed designs of planetary rover chassis and mobile platforms. Different designs of the mobile platforms are considered: tracked, walking, skiwalking, wheeled and wheel-walking with rigid and articulated/hinge-jointed/frames. The control system structures that provide the locomotion of different chassis designs are also discussed. The methods and the results of the tests of some planet rover chassis and prototypes are given.
The paper is supplemented with video clips and photographs showing the tests of planetary rover chassis and mobile platforms.
KeywordsMobile Platform Mobile Vehicle Locomotion Mode Tractive Drive Track Wheel
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