Special new configuration of wheeled robot to work over uneven terrain: sand, mud and snow

摘要

In the paper, a wheeled robot with changeable structure is presented. The robot is able to work under two modes: under continuous movement mode over sufficiently solid and smooth surfaces and under discontinuous movement mode over soft surfaces. Under discontinuous movement mode the wheels of the robot alternately act as supporting legs (blocked wheels) and as freely rolling wheels. Specific dynamic properties of the robot have been discovered using analytical methods. The problem of time optimal control is solved. Experimental results obtained using a prototype confirmed theoretical considerations. Field of application of the robot is connected with disabled people transportation.