Experimental Determination of the Passability Characteristics of Mobile Robotic Complex with Adaptive Wheels

In this paper, a generalized structural scheme of a mobile robotic complex with adaptive support-movable wheels, which is capable of changing its geometric characteristics in the process of movement, based on surmounted surface without operator participation was proposed. The algorithm and software which has been tested on the assembled microprocessor module with the element forming the wheel frame has been developed. As a result, the program provides data about the presence of an obstacle and the possibility of overcoming it and generates a control signal for the power body to change the geometric characteristics of the mover. The calculation and selection of the engine to provide the necessary speed and torque was made. On the basis of experimental data from the full-scale mover model, the main geometric characteristics of the complex were determined and the passability for two types of soils - clay and dry sand, was calculated.