Determination of the influence of soil irregularities on dynamic processes in caterpillar engines of a terrestrial robotic complex

Abstract

Abstract The paper describes the change of the geometry of the caterpillar of the terrestrial robotic complex depending on external factors. It is established that as a result of the action of centrifugal forces the caterpillar elongates, on the surface of the support rollers, the caterpillar repeats their shape, the upper part of the caterpillar acquires a convex shape, and the lower part of the caterpillar repeats the shape of the curve, which determines the unevenness of the soil. The dependence of the caterpillar shape on soil irregularities is established. The peculiarity of the geometry is that on the lower part of the caterpillar there is a ripple with the number of waves between the support rollers 1-2. It is established that the presence of soil irregularities, the harmonic components of the profiles of which have a period of about 4/3 of the distance between the extreme support rollers, leads to the greatest tensile loads in the caterpillar and the corresponding changes in caterpillar length. The dependences determining the elongation of the caterpillar, which is proportional to the square of the amplitude of the harmonic component of the soil roughness of the corresponding period are obtained.