: 80-85
Received: October 12, 2021
Accepted: October 17, 2022
Lviv Polytechnic National University, Lviv, Ukraine
Lviv Polytechnic National University, Lviv, Ukraine
Lviv Polytechnic National University, Lviv, Ukraine
Lviv Polytechnic National University, Lviv, Ukraine

Mobile robots are increasingly used in the most diverse spheres of human activities; accordingly, it is essential to ensure their reliable functioning, which in turn determines efficiency. Using appropriate calculations during design, it is possible to increase reliability and reduce the metal consumption of the machine samples being created. It is crucial that such calculations consider the loading modes in which the vehicle is used. The purpose of the presented work is to increase the technical and operational indicators of the electromechanical drive of mobile robots by selecting the input parameters in combination with the appropriate methods and techniques of design and mathematical modelling. In order to achieve the specified goal, the following main tasks of the research are defined: firstly, to improve the model of increasing reliability and reducing the metal consumption of mechanical components of mobile robots; and secondly, to calculate the mechanical components of mobile robots using the proposed model. Providing the necessary margin of strength with a simultaneous reduction in metal density is necessary for improving the electromechanical drive of a mobile robot and improving its characteristics in general. The paper presents a model and developed an algorithm for increasing the reliability and reducing the metal consumption of mechanical components of mobile robots. The method includes geometric, kinematic, dynamic, energy, technical and economic indicators' calculations, as well as strength and stiffness calculations. The calculations were performed for a small mobile robot with an electromechanical transmission, and the results of a study of the reliability and strength characteristics of the shaft of the mobile robotics platform were presented. The case of turning a mobile robot with the realization of the maximum torque, which is transmitted to one of the tracks, is considered. Based on the kinematic scheme of the electric transmission, a solid-state model of one of its elements (the traction star shaft of the crawler motor) was developed, for which, based on the schematized Serensen – Kinasoshvili diagram, the margin of safety was determined. The proposed model has been examined and successfully used to construct the experimental samples of mobile robots.

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