MODELING A PROTOTYPE OF A TRACKED MOBILE PLATFORM FOR MILITARY ROBOTICS AND ANALYZING STABILITY PARAMETERS
DOI:
https://doi.org/10.56132/2791-3368-2026-3-67-91-108Keywords:
robotic platform, mobile robot, Caterpillar, SolidWorks, military equipment, durabilityAbstract
As part of this work, a version of the structural model of the mobile platform for a multifunctional robotic system was developed. The main goal of the study is to offer an effective solution for a robotic platform with high strength characteristics suitable for the military. The parametric modeling approach was used in the SolidWorks 2023 software complex. The main elements of the system: frame, drive and guide wheels, support elements and Caterpillar parts were modeled separately and then combined into one assembly model. 5086 corrosion-resistant aluminum alloy and wear-resistant polyurethane material were selected as structural raw materials. In the process of choosing a material, we also took into account extreme temperature conditions. According to the calculation results of a tool called Mass Properties, it was found that the mass of the frame is 33,023.56 g, and the mass of the Caterpillar part is 123.24 g. It was observed that the coordinates of the center of gravity are located at the values X=409.33 mm, Y=354.30 mm and Z=168.61 mm. It is concentrated at the bottom of the structure. This feature increases the stability of the platform in poor, intersecting areas and reduces the risk of tipping over. The values of the moments of inertia showed that the mass was relatively evenly distributed throughout the design. Based on the results of the calculation, it was shown that approximately as a safe zone is limited to horizontal angles of 47° (pitch) and 39° (roll). Comparative analysis of tracked platforms showed that it has several advantages in the ability to overcome obstacles, lift loads and maintain balance. The research showed that the developed tracked platform is quite suitable for use in the field of military robotics. In our opinion, this solution can be further tested in real conditions and improve the system.
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References
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