title: ÐÐ¾Ð»ÐµÑÐ½Ð¾-ÑÐ°Ð³Ð°ÑÑÐ¸Ð¹ Ð´Ð²Ð¸Ð¶Ð¸ÑÐµÐ»Ñ Ð¼Ð°Ð»Ð¾Ð³Ð°Ð±Ð°ÑÐ¸ÑÐ½Ð¾Ð³Ð¾ Ð Ð¢Ð
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Wheel-walking mover of a small-sized RTK
Creators: name: ÐÐ¿Ð°ÑÐ¾Ð², Ð Ð¾Ð¼Ð°Ð½
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: 2022
Subjects: ÐºÐ¾Ð»ÑÑÐ½Ð¾-ÑÐ°Ð³Ð°ÑÑÐ¸Ð¹ Ð´Ð²Ð¸Ð¶Ð¸ÑÐµÐ»Ñ
ÐºÐ¾ÑÐ¿ÑÑ
Ð¿ÐµÑÐµÐ´Ð°ÑÐ¾ÑÐ½Ð¾Ðµ Ð¾ÑÐ½Ð¾ÑÐµÐ½Ð¸Ðµ
Ð¿Ð¾Ð²Ð¾ÑÐ¾ÑÐ½ÑÐ¹ Ð¼ÐµÑ Ð°Ð½Ð¸Ð·Ð¼
ÑÐµÐ¶Ð¸Ð¼ Ð¿ÐµÑÐµÑÐ°Ð³Ð¸Ð²Ð°Ð½Ð¸Ñ
wheel walking motor
housing
gear ratio
turning mechanism
step mode

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description: The theme of the final qualifying work: "Wheel-walking mover of a small-sized RTK." The paper describes the process of analyzing and designing the design of a wheel-walking mover, which is a rotary mechanism, on the body of which the wheels are located. The joint work of this mechanism is designed to move the RTK over obstacles in places difficult for a person to move. The tasks that were solved in the course of development and research are the analysis of wheel-walking movers and a multifunctional description of the principles of work on the turn of the KShD.The work contains an analysis of existing machines and mechanisms used in technology. A schematic diagram of a wheel-walking mover was assembled and disassembled. The kinematic scheme of the KSHD of diverse robots is considered and developed. Optimization of the operating modes of the robot for a variety of movement options has been carried out. Important aspects of walking on a difficult surface have been studied and calculated.The result of the work is the design of the mover, which has a number of advantages compared to conventional mechanisms for moving machines, which can be used on robots of a similar configuration. Applications compared to vehicles with conventional propulsion: actual reconnaissance of the environment, payload delivery, inspection of potentially explosive objects, clarification of cartographic information and plan.