Highly passable propulsive device for UGVs on rugged terrain

摘要

One of the priority functional tasks of both industrial and mobile robotics is to perform operations for moving payloads in space. Typically, researchers pay attention to control the movement of the robot on different soils. It is necessary to underline the specificity of the movements of mobile robots, the main functional purpose of which is the movement of different objects. Unlike other robot applications there is the fact that transported cargo may have different mass-dimensional characteristics. The payload should be comparable to the mass of the mobile robot. This article addresses the issue of passability on rough terrain for a mobile robot performing the transport task and proposed a technical solution in the field of mechanics of propulsion to improve propelling of the traction wheel of the mobile robot with the ground.