title: ÐÐ½Ð¾Ð³Ð¾ÑÐµÐ»ÐµÐ²Ð°Ñ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð°Ñ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ°Ñ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ð° Ð´Ð¸ÑÑÐ°Ð½ÑÐ¸Ð¾Ð½Ð½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Multi-purpose mobile robotics platform
Creators: name: ÐÐ°Ð¼ÐµÐ½ÐµÐ², ÐÐ»ÐµÐºÑÐ°Ð½Ð´Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: Ð Ð¾Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐµ
Ð¼Ð½Ð¾Ð³Ð¾ÑÐµÐ»ÐµÐ²Ð°Ñ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ°Ñ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ð°
ÐºÐ¾Ð¿Ð¸ÑÑÑÑÐ¸Ð¹ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾Ñ
Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾Ñ Ð´Ð»Ñ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ñ
Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð°Ñ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑ Ð½Ð¸ÐºÐ°
multipurpose robotic platform
copying manipulator
manipulator for a robotic platform
mobile robotics

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description: The object of the study is a multi-purpose robotic platform. The aim of the work is to increase the degree of patency of the robotic platform, namely, to compare existing methods and propose the use of a manipulator as one of the methods. The manipulator can be used to create a so-called reference point on which the entire mobile platform can rely when overcoming obstacles. This method can be especially useful for robots with low cross-country ability, for which it is not possible to overcome high obstacles on their own. In the course of the work, the following was carried out: description of the research object, problem statement, justification of relevance and review of existing technical solutions to improve the patency of a mobile robot. An analytical review of existing manipulators used in mobile robotics was also conducted. The kinematic scheme was synthesized, the optimal location was selected and the necessary lengths of the manipulator links were found. The simulation of the working area was carried out on the basis of the proposed link lengths, torque calculation and analysis of the main types of positioning errors of the manipulator. The result of the work is the proposal of a new, original method for increasing the cross-country capability of a multi-purpose robotic platform based on the applicability of the manipulating working body to help move and overcome obstacles by using the manipulators power capabilities. A three-dimensional separate model of the manipulator was created and combined with a model of a mobile robotic platform. A cross-country assistance simulation was conducted in the SolidWorks environment. The autonomy was calculated and a proposal was made to improve it.