title: Ð¡Ð¸ÑÑÐµÐ¼Ð° Ð²Ð°Ð»Ð¸Ð´Ð°ÑÐ¸Ð¸ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¼Ð½Ð¾Ð³Ð¾ÐºÐ¾Ð»ÐµÑÐ½Ð¾Ð¹ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ
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: Validation System of the Dynamic Model of a Multi-Wheeled Robotic System
Creators: name: Ð¡ÑÐµÐ½Ð½Ð¸ÐºÐ¾Ð², ÐÐ¼Ð¸ÑÑÐ¸Ð¹
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
Ð¼Ð¾Ð´ÑÐ»ÑÐ½Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð°
ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ
modular system
control system

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ¸ ÑÐ¸ÑÑÐµÐ¼Ñ Ð²Ð°Ð»Ð¸Ð´Ð°ÑÐ¸Ð¸ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¼Ð½Ð¾Ð³Ð¾ÐºÐ¾Ð»ÐµÑÐ½Ð¾Ð¹ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ Ð´Ð»Ñ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð³Ð¾ÑÐ¸Ð·Ð¾Ð½ÑÐ°Ð»ÑÐ½ÑÑ ÑÐ¸Ð» ÑÐµÐ°ÐºÑÐ¸Ð¹ ÐºÐ¾Ð»ÐµÑ. ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐµÑÐ°Ð»Ð¸ÑÑ Ð² ÑÐ¾Ð´Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ: 1) Ð°Ð½Ð°Ð»Ð¸ÑÐ¸ÑÐµÑÐºÐ¸Ð¹ Ð¾Ð±Ð·Ð¾Ñ Ð¼Ð½Ð¾Ð³Ð¾ÐºÐ¾Ð»ÐµÑÐ½ÑÑ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½ÑÑ ÑÐ¸ÑÑÐµÐ¼; 2) ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÑÐµÐ¼Ñ ÑÑÑÑÐºÑÑÑÐ½Ð¾Ð¹ ÐºÐ¾Ð¼Ð±Ð¸Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð¹; 3) ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÑÐµÐ¼Ñ ÐºÐ¸Ð½ÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ð¸Ð°Ð»ÑÐ½Ð¾Ð¹; 4) Ð²ÑÐ±Ð¾Ñ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÑÑÑÐ¸Ñ; 5) Ð¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ð¸ ÑÐ¸ÑÑÐµÐ¼Ñ Ð²Ð°Ð»Ð¸Ð´Ð°ÑÐ¸Ð¸ Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° 3D â Ð¼Ð¾Ð´ÐµÐ»Ð¸; 6) Ð¸Ð·Ð³Ð¾ÑÐ¾Ð²Ð»ÐµÐ½Ð¸Ðµ Ð²Ð°Ð»Ð¸Ð´Ð°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ; 7) ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ. Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ñ ÑÑÑÑÐºÑÑÑÐ½Ð°Ñ Ð¸ ÐºÐ¸Ð½ÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ°Ñ ÑÑÐµÐ¼Ñ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ°, Ð¿ÑÐµÐ´Ð½Ð°Ð·Ð½Ð°ÑÐµÐ½Ð½Ð¾Ð³Ð¾ Ð´Ð»Ñ Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ñ Ð³Ð¾ÑÐ¸Ð·Ð¾Ð½ÑÐ°Ð»ÑÐ½Ð¾Ð¹ Ð¾ÑÐµÐ²Ð¾Ð¹ ÑÐ¸Ð»Ñ Ð² Ð¿ÑÐ¾ÑÐµÑÑÐµ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ. ÐÑÐ»Ð¸ Ð²ÑÐ±ÑÐ°Ð½Ñ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÑÑÑÐ¸Ðµ Ð´Ð»Ñ Ð´Ð°Ð½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ°, Ð¾ÑÐ½Ð¾Ð²ÑÐ²Ð°ÑÑÑ Ð½Ð° Ð³Ð¾ÑÐ¾Ð²ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ñ ÑÐµÑÐµÐ½Ð¸ÑÑ. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° Ð¸ Ð¸Ð·Ð³Ð¾ÑÐ¾Ð²Ð»ÐµÐ½Ð° 3D Ð¼Ð¾Ð´ÐµÐ»Ñ ÑÐ¾Ð±Ð¾ÑÐ°, Ð° ÑÐ°ÐºÐ¶Ðµ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐ¾Ð±Ð¾ÑÐ¾Ð¼.
description: This work is dedicated to the development of a validation system for the dynamic model of a multi-wheeled robotic system to study the horizontal wheel reaction forces. The tasks that were solved during the research:: 1) analytical review of multi-wheeled transport systems; 2) development of a combined structuralÂ  scheme; 3) development of a principal kinematic scheme; 4) selection of components; 5) design of the validation system structure and development of a 3D model; 6) manufacturing of validation system; 7) development of a control system. As a result of the work, the structural and kinematic schemes of the experimental robot were developed, designed to measure the horizontal axial force in the process of movement. The components for this robot were selected based on ready-made robotic solutions. A 3D model of the robot has been developed and manufactured, as well as a robot control system has been developed.