The transport robot with reconfigurable structure

The paper discusses research results of transport robot new design for automation of different kinds of work in emergency situations. The purpose of research is to expand the robot's functional properties due to the possibility of overcoming the various obstacles, as well as high-speed movement on flat surfaces by reconfiguring its structure to the type of surface displacement. The robot has two caterpillar tracks located on each side of the platform for process equipment and two wheeled driving machines mounted on the front and rear of platform between caterpillar track groups. A feature of the design is that the wheel axis of wheeled driving machines is connected with the platform through levers, which drive is located on platform with the possibility of wheeled driving machines movement vertically relative to platform. Lever length could vary that allows to transform robot for different obstacles. A kinematic model of the robot in SolidWorks was developed to study different traffic modes. An experimental sample remote-controlled robot on the basis of standard components nodes was made. Its laboratory tests confirmed the ability to overcome different types of obstacles. The simulation of control system for levers extension in Matlab Simulink was made. It showed the stability of the system at the given parameters. The results can be used to create full-scale robots.

transport robot, automation, control, emergency