title: ÐÐ½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ Ð¼ÐµÑ Ð°Ð½Ð¸Ð·Ð¼Ð° Rocker-Bogie
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: Information model of the Rocker-Bogie mechanism
Creators: name: Ð¨Ð°Ð³Ð¸ÑÐ½, ÐÑÐ¸ÑÑÐ¸Ð½Ð°
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: Rocker-Bogie
ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ñ ÐÐ°Ð³ÑÐ°Ð½Ð¶Ð° Ð²ÑÐ¾ÑÐ¾Ð³Ð¾ ÑÐ¾Ð´Ð°
Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Simulink
Ð¿ÑÐ¾ÐµÐºÑÐ¸Ð¾Ð½Ð½ÑÐµ Ð¾Ð¿ÐµÑÐ°ÑÐ¾ÑÑ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ð¸
ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½ÑÐ¼Ð¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸ÑÐ¼Ð¸
Lagranges equations of the second kind
modeling
projection optimization operators
control of program motions

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¸Ð·ÑÑÐµÐ½Ð¸Ñ Ð¸ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ ÑÑÑÑÐºÑÑÑÑ Ð¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¼ÐµÑÐ°Ð½Ð¸Ð·Ð¼Ð° Rocker-Bogie. 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Ð·ÑÑÐµÐ½Ð¸Ðµ ÑÑÑÑÐºÑÑÑÑ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¿Ð¾Ð´Ð²ÐµÑÐºÐ¸ Rocker-Bogie; 2) Ð¡Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¾Ð±ÑÐµÐºÑÐ° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ; 3) Ð¡Ð¸Ð½ÑÐµÐ· ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÐºÐ¾Ð¹ ÑÐ°ÑÑÐ¼Ð°ÑÑÐ¸Ð²Ð°ÐµÐ¼Ð¾Ð³Ð¾ Ð¼ÐµÑÐ°Ð½Ð¸Ð·Ð¼Ð°; 4) Ð¡Ð¾Ð·Ð´Ð°Ð½Ð¸Ðµ Ð²Ð¸ÑÑÑÐ°Ð»ÑÐ½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ°ÑÑÐ¸ Rocker-Bogie; 5) Ð¢ÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¸ÑÑÐ»ÐµÐ´ÑÐµÐ¼Ð¾Ð³Ð¾ Ð¾Ð±ÑÐµÐºÑÐ° Ñ ÑÐ¸Ð½ÑÐµÐ·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÐ¼ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸ÐµÐ¼. Ð Ð¿ÑÐ¾ÑÐµÑÑÐµ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ» Ð¿ÑÐ¾Ð¸Ð·Ð²ÐµÐ´ÐµÐ½ Ð¾Ð±Ð·Ð¾Ñ Ð»Ð¸ÑÐµÑÐ°ÑÑÑÑ Ð¸ ÑÐ¾Ð²ÑÐµÐ¼ÐµÐ½Ð½ÑÑ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ð¹, Ð²ÐºÐ»ÑÑÐ°ÑÑÐ¸Ð¹ Ð² ÑÐµÐ±Ñ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ð¸Ðµ Ð¼Ð¾Ð´Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¿Ð¾Ð´Ð²ÐµÑÐºÐ¸ Rocker-Bogie Ð¸ Ð¿ÑÐ¸Ð¼ÐµÑÑ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ Ð´Ð°Ð½Ð½Ð¾Ð³Ð¾ Ð¼ÐµÑÐ°Ð½Ð¸Ð·Ð¼Ð° Ð² ÑÐ°Ð·Ð½ÑÑ Ð¾Ð±Ð»Ð°ÑÑÑÑ Ð´ÐµÑÑÐµÐ»ÑÐ½Ð¾ÑÑÐ¸. ÐÐ»Ñ ÑÐ¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¸Ð·ÑÑÐ°ÐµÐ¼Ð¾Ð³Ð¾ Ð¾Ð±ÑÐµÐºÑÐ° Ð±ÑÐ» Ð²ÑÐ±ÑÐ°Ð½ Ð¼ÐµÑÐ¾Ð´ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ð¹ ÐÐ°Ð³ÑÐ°Ð½Ð¶Ð° Ð²ÑÐ¾ÑÐ¾Ð³Ð¾ ÑÐ¾Ð´Ð°. Ð¡Ð¸Ð½ÑÐµÐ· ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð²ÑÐ¿Ð¾Ð»Ð½ÑÐ»ÑÑ Ð¿Ð¾ÑÑÐµÐ´ÑÑÐ²Ð¾Ð¼ Ð¿ÑÐ¾ÐµÐºÑÐ¸Ð¾Ð½Ð½Ð¾Ð³Ð¾ Ð¼ÐµÑÐ¾Ð´Ð° ÑÐµÑÐµÐ½Ð¸Ñ Ð·Ð°Ð´Ð°ÑÐ¸ ÑÑÐ°Ð±Ð¸Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½ÑÑ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ð¹. ÐÐ¾Ð»ÑÑÐµÐ½Ð½Ð¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ Ð±ÑÐ»Ð¾ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¾ Ðº Ð²Ð¸ÑÑÑÐ°Ð»ÑÐ½Ð¾Ð¼Ñ Ð¿ÑÐ¾ÑÐ¾ÑÐ¸Ð¿Ñ, ÑÐ¾Ð·Ð´Ð°Ð½Ð½Ð¾Ð¼Ñ Ð¸Ð· Ð±Ð»Ð¾ÐºÐ¾Ð² Ð±Ð¸Ð±Ð»Ð¸Ð¾ÑÐµÐºÐ¸ Simscape Multibody Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð¾Ð³Ð¾ Ð¾Ð±ÐµÑÐ¿ÐµÑÐµÐ½Ð¸Ñ Simulink. ÐÐ½Ð°Ð»Ð¸Ð· ÑÐ°Ð±Ð¾ÑÑ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¾ÑÑÑÐµÑÑÐ²Ð»ÑÐ»ÑÑ Ð¿ÑÑÐµÐ¼ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ð¸Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¿ÑÐ¾ÑÐ¾ÑÐ¸Ð¿Ð° Ð¾Ð±ÑÐµÐºÑÐ° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¿Ð¾ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸ÑÐ¼, Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÑÑÑÐ¸Ð¼ ÑÐ¾Ð±Ð¾Ð¹ ÑÑÑÐ¿ÐµÐ½Ð¸ ÑÐ°Ð·Ð½Ð¾Ð¹ Ð²ÑÑÐ¾ÑÑ Ð¸ ÑÑÐµÐ¿ÐµÐ½Ð¸ Ð½Ð°ÐºÐ»Ð¾Ð½Ð°. Ð¡Ð¸Ð½ÑÐµÐ·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ Ð¾Ð±ÐµÑÐ¿ÐµÑÐ¸Ð²Ð°ÐµÑ Ð¿Ð¾Ð´Ð´ÐµÑÐ¶Ð°Ð½Ð¸Ðµ Ð¶ÐµÐ»Ð°ÐµÐ¼Ð¾Ð¹ ÑÐºÐ¾ÑÐ¾ÑÑÐ¸ Ð¼ÐµÑÐ°Ð½Ð¸Ð·Ð¼Ð° Ð½Ð° ÑÐ¾Ð²Ð½Ð¾Ð¹ Ð¿Ð¾Ð²ÐµÑÑÐ½Ð¾ÑÑÐ¸, ÑÑÐ¾ Ð±ÑÐ»Ð¾ Ð¿Ð¾Ð´ÑÐ²ÐµÑÐ¶Ð´ÐµÐ½Ð¾ Ð°Ð½Ð°Ð»Ð¸Ð·Ð¾Ð¼ Ð³ÑÐ°ÑÐ¸ÐºÐ¾Ð², ÑÐ°ÑÐ°ÐºÑÐµÑÐ¸Ð·ÑÑÑÐ¸Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ðµ Ð¾Ð±ÑÐµÐºÑÐ°.
description: The given work is devoted to studying and modeling of the Rocker-Bogie mechanism structure and motion. The research set the following goals: 1) The Rocker-Bogie suspension system structure study. 2) Mathematical model formation of the research object. 3) Control synthesis for considered mechanism dynamics. 4) Creating a virtual model of the Rocker-Bogie chassis. 5) Testing of the research object model with the synthesized control. The work process included literature and modern research review, involving consideration of the Rocker-Bogie suspension system modifications and examples of this mechanism applications in different areas of activity. To build the research object mathematical model, the second kind Lagrange equations method was chosen. The control synthesis was performed by means of the projection method of solving the program motions stabilization problem. The resulting control was applied to a virtual prototype created from Simulink software Simscape Multibody library blocks. The model work analysis was carried out through exploration of the research object movement on obstacles representing steps of different heights and degrees of inclination. Synthesized control maintains desired speed of the mechanism on plain surface, which was confirmed by the analysis of the graphs characterizing object motion.