A study of the effect of a tracked running gear on the motion of a mobile robot.
Students Name: Pakholok Nazarii Romanovych
Qualification Level: magister
Speciality: Wheeled and Track-type Vehicles
Institute: Institute of Mechanical Engineering and Transport
Mode of Study: full
Academic Year: 2021-2022 н.р.
Language of Defence: ukrainian
Abstract: Investigation of the influence of a caterpillar propulsion on the movement of a mobile robot. Master’s qualification work / Paholok NR, Zinko RV (head). Department of Automotive Engineering, Lviv Polytechnic National University. Lviv, 2021. - 45 p. - 10 bibl. - 4 sheets. gr. part. When creating crawler machines (mobile robots, tractors, construction machines, etc.) one of the important tasks is to reduce the metal consumption of the running system. In addition, the failure of the running system deprives the car of mobility, and troubleshooting during operation is very time consuming. When estimating the load of some types of caterpillar tracks, the traction of the caterpillar is important. Tension is caused by wear of the hinges and leads to jamming of the caterpillar on the traction star. Therefore, it is important to determine the relationships between the elongation of the caterpillar and the operating parameters of the caterpillar machine. The purpose of the work is to study the elongation of the caterpillar of a mobile robot when it is in contact with a traction star. To achieve this goal the following tasks were solved: 1. Consider the types of caterpillars and the process of torque transmission by trickle gearing. 2. The calculation of the caterpillar and the hinge of the truck. 3. A study of the elongation of the caterpillar on the movement of the mobile robot (tensile strength of the caterpillar chain P, the speed of the support roller V, the thickness of the soil layer h).