Abstract
It has been established that the prerequisite for multi-purpose robotic platform (MPRP), which determines the use of a manipulator-mover with an active Abenics joint, is, first of all, road conditions (locality), because in field conditions or as a result of missile and artillery damage, such extreme conditions occur when the movement on the main mover is impossible and there is a need to involve auxiliary (additional) mechanisms. The design features of the Abenics technology were analyzed and its advantages in providing three degrees of freedom at one point of contact were clarified. On the basis of the provisions of the theory of machine parts and the Solid Works software, the strength calculation of the Abenics hinge was carried out, namely: allowable contact fatigue stresses 412 MPa, allowable bending stresses 267 MPa; circular Ft 683 N and radial Fr 247,9 N forces in engagement. The transmission was checked for contact stress strength H 407,6 MPa and for the bending strength of the wheel teeth in 41,95 MPa; the torque around the Abenics active joint is determined in Mкрш 136 Nm. The distribution of stresses relative to the faces to which a force of 683 N was applied is graphically presented. The manipulators-movers in which the Abenics active hinge will be used, with the above results, will have a load capacity of 150-200 kg, which makes it possible to evacuate a wounded soldier with equipment or deliver corresponding load on the front edge (firing positions). Thus, the approach proposed by the author can be the basis for the creation of new promising MPRPs with increased operational properties such as passability and stability, because their manipulators will be able, if necessary, to perform the function of a stepping or wheel drive. It is proposed to first of all implement the capabilities of Abenics technology on MPRPs of rear, technical and medical support, which will not require additional stabilization of their hull in comparison with combat and special ground robotic complexes. In the future, the same technology can be applied in the field of mobile robotics, because it allows you to design the connection of links (kinematic pairs) of the manipulator on an active ball joint, that is, at one point, while increasing the efficiency of the operation of the manipulator by reducing the consumption of resources.
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