title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¸ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð»ÐµÐ³ÐºÐ¾Ð³Ð¾ ÐºÐ»Ð°ÑÑÐ°
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: Development and research of a light class mobile robot
Creators: name: Ð¢Ð°Ð¿ÐµÑÐ°, ÐÐ¸ÐºÐ¾Ð»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: 2023
Subjects: Ð Ð¾Ð±Ð¾ÑÑ
ÐºÐ¾Ð»ÐµÑÐ½Ð¾-ÑÐ°Ð³Ð°ÑÑÐ¸Ð¹ Ð´Ð²Ð¸Ð¶Ð¸ÑÐµÐ»Ñ
ÐºÐ¾Ð»ÐµÑÐ½ÑÐ¹ Ð±Ð»Ð¾Ðº
ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¾Ðµ ÑÐ°ÑÑÐ¸
ÑÐµÐºÐ¾Ð½ÑÐ¸Ð³ÑÑÐ°ÑÐ¸Ñ
Ð°Ð´Ð°Ð¿ÑÐ¸Ð²Ð½Ð°Ñ ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾ÑÑÑ
wheeled-walking locomotion
wheel block
robotic chassis
reconfiguration
adaptative stability

description: ÐÑÐµÐ´Ð¼ÐµÑ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ â ÑÐ°Ð·ÑÐ°Ð±Ð°ÑÑÐ²Ð°ÐµÐ¼ÑÐ¹ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÐ¹ ÑÐ¾Ð±Ð¾Ñ Ð»ÐµÐ³ÐºÐ¾Ð³Ð¾ ÐºÐ»Ð°ÑÑÐ° Ñ ÑÐµÐºÐ¾Ð½ÑÐ¸Ð³ÑÑÐ¸ÑÑÐµÐ¼ÑÐ¼ ÐºÐ¾Ð»ÐµÑÐ½Ð¾-ÑÐ°Ð³Ð°ÑÑÐ¸Ð¼ Ð´Ð²Ð¸Ð¶Ð¸ÑÐµÐ»ÐµÐ¼ Ð¿Ð¾Ð²ÑÑÐµÐ½Ð½Ð¾Ð¹ ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾ÑÑÐ¸, ÑÐºÑÐ¿Ð»ÑÐ°ÑÐ¸ÑÑÐµÐ¼ÑÐ¹ Ð¿ÑÐµÐ¸Ð¼ÑÑÐµÑÑÐ²ÐµÐ½Ð½Ð¾ Ð² ÑÑÐ»Ð¾Ð²Ð¸ÑÑ Ð³Ð¾ÑÐ¾Ð´ÑÐºÐ¾Ð¹ ÑÑÐµÐ´Ñ. Ð¦ÐµÐ»ÑÑ Ð´Ð°Ð½Ð½Ð¾Ð¹ Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ð¸ Ð¸ Ð¾Ð¿Ð¸ÑÐ°Ð½Ð¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð»ÐµÐ³ÐºÐ¾Ð³Ð¾ ÐºÐ»Ð°ÑÑÐ°, Ð°Ð´Ð°Ð¿ÑÐ¸ÑÑÑÑÐµÐ³Ð¾ÑÑ Ðº Ð¿ÑÐµÐ¾Ð´Ð¾Ð»ÐµÐ²Ð°ÐµÐ¼ÑÐ¼ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸ÑÐ¼ Ð³Ð¾ÑÐ¾Ð´ÑÐºÐ¾Ð¹ ÑÑÐµÐ´Ñ (Ð»ÐµÑÑÐ½Ð¸ÑÐ½ÑÐµ Ð¼Ð°ÑÑÐ¸, ÑÐºÐ»Ð¾Ð½Ñ, Ð´Ð¾ÑÐ¾Ð¶Ð½ÑÐµ Ð½ÐµÑÐ¾Ð²Ð½Ð¾ÑÑÐ¸, ÑÑÑÑÐ¿Ñ), ÑÐ¾ÑÑÐ°Ð½ÑÑ Ð¿ÑÐ¸ ÑÑÐ¾Ð¼ Ð¿Ð¾Ð»Ð¾Ð¶Ð¸ÑÐµÐ»ÑÐ½ÑÐ¹ Ð·Ð°Ð¿Ð°Ñ ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾ÑÑÐ¸. Ð Ð°Ð±Ð¾ÑÑ Ð¿Ð¾ ÑÐµÐ¼Ðµ ÐÐÐ  Ð¿ÑÐ¾Ð²Ð¾Ð´Ð¸Ð»Ð¸ÑÑ Ð² ÑÐ°Ð¼ÐºÐ°Ñ Ð´ÐµÐ¹ÑÑÐ²ÑÑÑÐµÐ³Ð¾ Ð¿ÑÐ¾ÐµÐºÑÐ° Ð¿ÑÐµÐ´Ð¿ÑÐ¸ÑÑÐ¸Ñ Ð¦ÐÐÐ Ð Ð¢Ð, Ð¿Ð¾Ð´ ÑÑÐºÐ¾Ð²Ð¾Ð´ÑÑÐ²Ð¾Ð¼ ÑÐ¿ÐµÑÐ¸Ð°Ð»Ð¸ÑÑÐ¾Ð² Ð¿ÑÐµÐ´Ð¿ÑÐ¸ÑÑÐ¸Ñ. Ð Ð¿ÑÐ¾ÑÐµÑÑÐµ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ñ ÑÐ°Ð±Ð¾ÑÑ Ð¿Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ñ Ð¸ ÑÐµÑÐµÐ½Ñ ÑÐ»ÐµÐ´ÑÑÑÐ¸Ðµ Ð·Ð°Ð´Ð°ÑÐ¸: Ð¾Ð±Ð¾ÑÐ½Ð¾Ð²Ð°Ð½ Ð²ÑÐ±Ð¾Ñ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ð¸Ð°Ð»ÑÐ½Ð¾Ð¹ ÑÑÐµÐ¼Ñ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð¸ ÐµÐ³Ð¾ Ð´Ð²Ð¸Ð¶Ð¸ÑÐµÐ»Ñ; Ð¿ÑÐ¾Ð°Ð½Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ðµ Ð¼ÐµÑÐ¾Ð´Ñ Ð¿Ð¾Ð²ÑÑÐµÐ½Ð¸Ñ ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾ÑÑÐ¸ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ñ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ¾Ð²; ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° ÐºÐ¸Ð½ÐµÐ¼Ð°ÑÐ¸ÐºÐ° Ð¸ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ñ ÑÐ°ÑÑÐ¸; Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ð° Ð¸ Ð¾Ð¿Ð¸ÑÐ°Ð½Ð° ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ; Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð° Ð·Ð°Ð²Ð¸ÑÐ¸Ð¼Ð¾ÑÑÑ ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾ÑÑÐ¸ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð¾Ñ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² Ð¿ÑÐµÐ¾Ð´Ð¾Ð»ÐµÐ²Ð°ÐµÐ¼ÑÑ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸Ð¹; Ð¿ÑÐµÐ´Ð»Ð¾Ð¶ÐµÐ½Ñ Ð¼ÐµÑÐ¾Ð´Ñ Ð¿Ð¾Ð²ÑÑÐµÐ½Ð¸Ñ Ð°Ð´Ð°Ð¿ÑÐ¸Ð²Ð½Ð¾Ð¹ ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾ÑÑÐ¸ Ð·Ð° ÑÑÐµÑ ÑÐ¼ÐµÑÐµÐ½Ð¸Ñ ÑÐµÐ½ÑÑÐ° ÑÑÐ¶ÐµÑÑÐ¸; Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ñ ÐºÐ¸Ð½ÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ðµ Ð¸ ÑÑÐ°ÑÐ¸ÑÐµÑÐºÐ¸Ðµ ÑÐ°ÑÑÐµÑÑ, Ð¿Ð¾Ð´ÑÐ²ÐµÑÐ¶Ð´Ð°ÑÑÐ¸Ðµ ÑÐ°Ð±Ð¾ÑÐ¾ÑÐ¿Ð¾ÑÐ¾Ð±Ð½Ð¾ÑÑÑ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð¹ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ñ Ñ ÐºÐ¾Ð»ÐµÑÐ½Ð¾-ÑÐ°Ð³Ð°ÑÑÐ¸Ð¼ Ð´Ð²Ð¸Ð¶Ð¸ÑÐµÐ»ÐµÐ¼. ÐÑÐ°ÐºÑÐ¸ÑÐµÑÐºÐ°Ñ Ð·Ð½Ð°ÑÐ¸Ð¼Ð¾ÑÑÑ. Ð Ð°Ð·ÑÐ°Ð±Ð°ÑÑÐ²Ð°ÐµÐ¼ÑÐ¹ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÐ¹ Ð¿Ð¾Ð·Ð²Ð¾Ð»Ð¸Ñ ÑÑÑÐµÐºÑÐ¸Ð²Ð½Ð¾ Ð¿ÑÐµÐ¾Ð´Ð¾Ð»ÐµÐ²Ð°ÑÑ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸Ñ Ð³Ð¾ÑÐ¾Ð´ÑÐºÐ¾Ð¹ ÑÑÐµÐ´Ñ Ð·Ð° ÑÑÐµÑ Ð²ÑÑÐ¾ÐºÐ¾Ð³Ð¾ Ð°Ð´Ð°Ð¿ÑÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð³Ð¾ Ð¿Ð¾ÑÐµÐ½ÑÐ¸Ð°Ð»Ð° ÑÐµÐºÐ¾Ð½ÑÐ¸Ð³ÑÑÐ¸ÑÑÐµÐ¼Ð¾Ð³Ð¾ ÐºÐ¾Ð»ÐµÑÐ½Ð¾-ÑÐ°Ð³Ð°ÑÑÐµÐ³Ð¾ Ð´Ð²Ð¸Ð¶Ð¸ÑÐµÐ»Ñ, Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿ ÑÐ°Ð±Ð¾ÑÑ ÐºÐ¾ÑÐ¾ÑÐ¾Ð³Ð¾ Ð¸Ð½ÑÑÐ¸ÑÐ¸Ð²Ð½Ð¾ Ð¿Ð¾Ð½ÑÑÐµÐ½ ÑÐµÐ»Ð¾Ð²ÐµÐºÑ-Ð¾Ð¿ÐµÑÐ°ÑÐ¾ÑÑ, ÑÐ°Ð±Ð¾ÑÐ°ÑÑÐµÐ¼Ñ Ñ Ð½Ð¸Ð¼. ÐÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ð½ÑÐ¹ Ð² ÑÐ°Ð±Ð¾ÑÐµ ÐºÐ¸Ð½ÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ð¹ Ð¸ Ð³ÐµÐ¾Ð¼ÐµÑÑÐ¸ÑÐµÑÐºÐ¸Ð¹ Ð°Ð½Ð°Ð»Ð¸Ð· Ð¿Ð¾Ð·Ð²Ð¾Ð»Ð¸Ñ Ð² Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ¼ Ð¿ÑÐ¾Ð²Ð¾Ð´Ð¸ÑÑ Ð¼Ð¾Ð´ÐµÑÐ½Ð¸Ð·Ð°ÑÐ¸Ñ ÑÐ¾Ð±Ð¾ÑÐ° Ð² Ð±ÑÐ´ÑÑÐ¸Ñ Ð¿ÑÐ¾ÐµÐºÑÐ°Ñ Ð¿ÑÐµÐ´Ð¿ÑÐ¸ÑÑÐ¸Ñ Ð¦ÐÐÐ Ð Ð¢Ð, ÑÐ²ÑÐ·Ð°Ð½Ð½ÑÑ Ñ ÐºÐ¾Ð»ÐµÑÐ½Ð¾-ÑÐ°Ð³Ð°ÑÑÐ¸Ð¼Ð¸ Ð´Ð²Ð¸Ð¶Ð¸ÑÐµÐ»ÑÐ¼Ð¸.Â  ÐÑÐ²Ð¾Ð´Ñ. ÐÐµÑÐ¼Ð¾ÑÑÑ Ð½Ð° ÑÐ¾, ÑÑÐ¾ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ð¸Ð°Ð»ÑÐ½Ð°Ñ ÑÑÐµÐ¼Ð° ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐ°ÑÑÐ¸ Ð¾Ð±Ð»Ð°Ð´Ð°ÐµÑ Ð²ÑÑÐ¾ÐºÐ¸Ð¼ Ð°Ð´Ð°Ð¿ÑÐ¸Ð²Ð½ÑÐ¼ Ð¿Ð¾ÑÐµÐ½ÑÐ¸Ð°Ð»Ð¾Ð¼, ÑÐ¸ÑÐ¾ÐºÐ¾Ð³Ð¾ ÑÐ°Ð·Ð²Ð¸ÑÐ¸Ñ Ð² Ð¼Ð¸ÑÐµ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÐºÐ¸ Ð½Ðµ Ð¿Ð¾Ð»ÑÑÐ¸Ð»Ð°, Ð² ÑÐ²ÑÐ·Ð¸ ÑÐ¾ ÑÐ»Ð¾Ð¶Ð½ÑÐ¼ ÑÑÑÐ¾ÐµÐ½Ð¸ÐµÐ¼ Ð¸Ð»Ð¸ Ð¼Ð°Ð»ÑÐ¼Ð¸ Ð¼Ð¾ÑÐ½Ð¾ÑÑÑÐ¼Ð¸ Ð¿ÑÐ¸Ð²Ð¾Ð´Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ. Ð Ð°Ð·ÑÐ°Ð±Ð°ÑÑÐ²Ð°ÐµÐ¼Ð°Ñ Ð¶Ðµ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ñ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð° Ð¿Ð¾ Ð¼Ð¾Ð´ÑÐ»ÑÐ½Ð¾Ð¼Ñ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ñ, Ð¿ÑÐ¸Ð²Ð¾Ð´Ð½Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¾ÑÑÐ¾Ð¸Ñ Ð¸Ð· ÑÐ½Ð¸ÑÐ¸ÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÑ ÑÐ±Ð¾ÑÐ¾ÑÐ½ÑÑ ÐµÐ´Ð¸Ð½Ð¸Ñ, Ð¾Ð±Ð»Ð°Ð´Ð°ÐµÑ Ð¿ÑÐ¾ÑÑÐ¾Ð¹ Ð¸ ÑÑÑÐµÐºÑÐ¸Ð²Ð½Ð¾Ð¹ ÑÐµÐ½ÑÐ¾ÑÐ½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ð¾Ð¹ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ñ Ð²ÑÐ±ÑÐ°Ð½Ð½Ð¾Ð³Ð¾ ÑÐµÐ¶Ð¸Ð¼Ð° Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð½ÑÐµ ÑÐ¸Ð·Ð¸ÑÐµÑÐºÐ¸Ðµ Ð¸ Ð²Ð¸ÑÑÑÐ°Ð»ÑÐ½ÑÐµ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÑ Ð½Ð° Ð¿ÑÐµÐ´Ð¿ÑÐ¸ÑÑÐ¸Ð¸ Ð¦ÐÐÐ Ð Ð¢Ð Ð¿Ð¾Ð´ÑÐ²ÐµÑÐ¶Ð´Ð°ÑÑ ÑÑÑÐµÐºÑÐ¸Ð²Ð½Ð¾ÑÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐ°ÑÑÐ¸ Ð»ÐµÐ³ÐºÐ¾Ð³Ð¾ ÐºÐ»Ð°ÑÑÐ° Ð¿ÑÐ¸ Ð¿ÑÐµÐ¾Ð´Ð¾Ð»ÐµÐ½Ð¸Ð¸ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸Ð¹ Ð³Ð¾ÑÐ¾Ð´ÑÐºÐ¾Ð¹ ÑÑÐµÐ´Ñ.
description: The subject of this research is a lightweight mobile robot with a reconfigurable wheeled-walking locomotion system that provides increased stability, primarily designed for use in urban environments. The aim of this thesis is to develop the design and control system of a lightweight mobile robot that can adapt to the obstacles encountered in urban environments (stairs, slopes, road irregularities, ledges) while maintaining a positive stability margin. The work was carried out as part of an ongoing project at the Central Research Institute of Robotics and Technical Cybernetics under the guidance of company experts. During the course of this work, the following tasks were accomplished: selection of the basic design and locomotion system of the mobile robot; analysis of existing methods for improving the stability of robotic systems; development of the kinematics and chassis design; presentation and description of the control system; investigation of the relationship between the stability of the mobile robot and the parameters of the obstacles encountered; proposal of methods for enhancing adaptive stability by shifting the center of gravity; presentation of kinematic and static calculations confirming the functionality of the wheeled-walking platform. Practical significance. The developed mobile robot will be able to effectively overcome obstacles in urban environments thanks to the high adaptive potential of the reconfigurable wheeled-walking locomotion system, whose operating principle is intuitive for human operators working with it. The presented kinematic and geometric analysis will allow for further upgrades of the robot in future projects at the Central Research Institute of Robotics and Technical Cybernetics related to wheeled-walking locomotion systems. Conclusions. Despite the high adaptability potential of the basic robotic chassis design, it has not been widely used in robotics due to its complex structure or low power drive system. However, the modular design of the developed system, with a drive system consisting of standardized assembly units, and a simple and efficient sensor control system for the selected mode of movement, makes it a promising solution for urban environments. Physical and virtual experiments conducted at the Central Research Institute of Robotics and Technical Cybernetics confirm the effectiveness of the developed lightweight robotic chassis in overcoming obstacles in urban environments.