Modelling the motion of a mobile robotic complex in the coastal zone

Abstract

Abstract The article discusses the modeling of the curvilinear motion of a mobile robotic complex (MRC) with a caterpillar-modular mover on sandy deformable soil. Dependencies describing the main characteristics of the support base (modulus of elasticity, angle of internal friction, specific cohesion of soil, soil density) are given. The simulation was conducted in the Adams Tracked Vehicle environment. Shown are 3D views of the developed model of MRC. Typical sections of MRC curvilinear motion simulation on a sandy support base are considered. Graphs of changes in resistance to movement MRC are given for curved and straight sections. The calculations of the total resistance in a rectilinear motion and during rotation showed that the average values of the resistance to movement in a rectilinear motion are 1.6 kN with a curvilinear of 1.94 kN. The experimental values of the resistance force in a rectilinear motion were 1.45-1.7 kN. Thus, the maximum deviation between theoretical and experimental data was no more than 10%.