Description: The variant of a constructive arrangement of driving wheels of a propeller for wheel and track autonomous transport blocks-modules of a military ground-based robot is offered. The vector-matrix form of the compilation of the differential equations of motion of a mechanical system describes the movement of the center of mass of the transport platform of a combat robotic complex with an independent drive of four wheels. Despite the fact that most of the ground robots that are at present on the arsenal are designed to find and detect bombs, mines, improvised explosive devices, as well as their demining, every year they begin to occupy an increasingly prominent place in the combat arsenal of advanced armies , and, as military experts point out, by the year 2025, a combat robot will be able, along with a human fighter, and more often than not, to solve a large number of tasks on the battlefield. Thanks to the use of motor-wheels with electric motors of the inverse design, which are built without gearbox directly into the wheel's rim, it is easy to achieve the practical implementation of all-wheel drive electromechanical transmissions, thanks to the fully autonomous drive of each wheel. It provides qualitatively new features of drive systems that significantly enhance the performance of the transport systems of land mobile robots through the automation of automatic control systems for them. On the basis of the use of the concept of the organization of an electromechanical drive with the help of electric motors it is recommended to use the propulsion engines in the form of stand-alone wheel, crawler and combined wheel-tracked functional blocks-modules. Thanks to this design, the propulsion engineer has the opportunity to complete the same building structure of the military ground work with a set of different engines in the form of autonomous blocks-modules, which are selected according to the conditions of their future combat application. The system of nonlinear differential equations of the second order, which determines the plane motion of a mobile robot with four driving wheels, is an essential step in the development of this class of robots. The next step should be to select among all the trajectories of flat motion, which are determined by the system, the set of trajectories that are required in the practice of the use of such robots.
Keywords: transport platform, military ground robot, electromechanical transmission, autonomous blocks-modules, system of equations for non-holonomic connections
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