{"id":15392,"date":"2023-01-13T09:40:26","date_gmt":"2023-01-13T07:40:26","guid":{"rendered":"http:\/\/journals.khnu.km.ua\/vestnik\/?p=15392"},"modified":"2023-02-15T22:04:45","modified_gmt":"2023-02-15T20:04:45","slug":"obgruntuvannya-konstrukcziyi-ta-parametriv-kolis-pry-proyektuvanni-shasi-robotyzovanoyi-platformy-zasobamy-solidworks-simulation","status":"publish","type":"post","link":"https:\/\/journals.khnu.km.ua\/vestnik\/?p=15392","title":{"rendered":"\u041e\u0431\u0491\u0440\u0443\u043d\u0442\u0443\u0432\u0430\u043d\u043d\u044f \u043a\u043e\u043d\u0441\u0442\u0440\u0443\u043a\u0446\u0456\u0457 \u0442\u0430 \u043f\u0430\u0440\u0430\u043c\u0435\u0442\u0440\u0456\u0432 \u043a\u043e\u043b\u0456\u0441 \u043f\u0440\u0438 \u043f\u0440\u043e\u0454\u043a\u0442\u0443\u0432\u0430\u043d\u043d\u0456 \u0448\u0430\u0441\u0456 \u0440\u043e\u0431\u043e\u0442\u0438\u0437\u043e\u0432\u0430\u043d\u043e\u0457 \u043f\u043b\u0430\u0442\u0444\u043e\u0440\u043c\u0438 \u0437\u0430\u0441\u043e\u0431\u0430\u043c\u0438 Solidworks Simulation"},"content":{"rendered":"

<\/p>\n

\u041e\u0411\u0490\u0420\u0423\u041d\u0422\u0423\u0412\u0410\u041d\u041d\u042f \u041a\u041e\u041d\u0421\u0422\u0420\u0423\u041a\u0426\u0406\u0407 \u0422\u0410 \u041f\u0410\u0420\u0410\u041c\u0415\u0422\u0420\u0406\u0412 \u041a\u041e\u041b\u0406\u0421 \u041f\u0420\u0418 \u041f\u0420\u041e\u0404\u041a\u0422\u0423\u0412\u0410\u041d\u041d\u0406 \u0428\u0410\u0421\u0406 \u0420\u041e\u0411\u041e\u0422\u0418\u0417\u041e\u0412\u0410\u041d\u041e\u0407 \u041f\u041b\u0410\u0422\u0424\u041e\u0420\u041c\u0418 \u0417\u0410\u0421\u041e\u0411\u0410\u041c\u0418 SOLIDWORKS SIMULATION<\/p>\n

JUSTIFICATION OF THE DESIGN AND PARAMETERS OF THE WHEELS DURING THE DESIGN PROCESS OF THE CHASSIS OF A ROBOTIC PLATFORM USING SOLIDWORKS SIMULATION<\/p>\n

\u0421\u0442\u043e\u0440\u0456\u043d\u043a\u0438: 255-262. \u041d\u043e\u043c\u0435\u0440: \u21166, 2022 (315)\u00a0\u00a0<\/strong> \"\"<\/a>
\n\u0410\u0432\u0442\u043e\u0440\u0438:<\/strong>
\n\u0425\u0410\u0420\u0416\u0415\u0412\u0421\u042c\u041a\u0418\u0419 \u0410\u043d\u0442\u043e\u043d
\n\u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0430 \u0433\u0456\u043c\u043d\u0430\u0437\u0456\u044f \u21161 \u0456\u043c. \u0412.\u041a\u0440\u0430\u0441\u0438\u0446\u044c\u043a\u043e\u0433\u043e
\n\u00a0ORCID ID: 0000-0003-0911-7881<\/a>
\ne-mail: a.kharzhevskyi@gmail.com
\n\u0413\u041e\u0420\u042f\u0429\u0415\u041d\u041a\u041e \u0421\u0435\u0440\u0433\u0456\u0439
\n\u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0438\u0439 \u043d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0438\u0439 \u0443\u043d\u0456\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442
\n\u00a0ORCID ID: 0000-0001-6623-2523<\/a>
\ne-mail: gsl7@ukr.net<\/a>
\n\u0425\u0410\u0420\u0416\u0415\u0412\u0421\u042c\u041a\u0418\u0419 \u0412\u2019\u044f\u0447\u0435\u0441\u043b\u0430\u0432
\n\u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0438\u0439 \u043d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0438\u0439 \u0443\u043d\u0456\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442
\n\u00a0ORCID ID: 0000-0003-4816-2781<\/a>
\ne-mail: kharzhevskyi@khmnu.edu.ua
\nKHARZHEVSKYI Anton
\nKhmelnytskyi Gymnasium No. 1 named after V. Krasytskyi
\nHORIASHCHENKO Serhiy, KHARZHEVSKYI Viacheslav
\nKhmelnytskyi National University
\nDOI:<\/strong> https:\/\/www.doi.org\/10.31891\/2307-5732-2022-315-6-255-262<\/a><\/p>\n

\u0410\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u043c\u043e\u0432\u043e\u044e \u043e\u0440\u0438\u0433\u0456\u043d\u0430\u043b\u0443<\/strong><\/p>\n

\u0412 \u0440\u043e\u0431\u043e\u0442\u0456 \u0440\u043e\u0437\u0433\u043b\u044f\u0434\u0430\u044e\u0442\u044c\u0441\u044f \u043f\u0438\u0442\u0430\u043d\u043d\u044f \u043f\u0440\u043e\u0454\u043a\u0442\u0443\u0432\u0430\u043d\u043d\u044f \u0440\u043e\u0431\u043e\u0442\u0438\u0437\u043e\u0432\u0430\u043d\u043e\u0457 \u043f\u043b\u0430\u0442\u0444\u043e\u0440\u043c\u0438 \u0434\u043b\u044f \u0431\u043b\u0438\u0436\u043d\u044c\u043e\u0457 \u0440\u043e\u0437\u0432\u0456\u0434\u043a\u0438 \u0442\u0435\u0440\u0438\u0442\u043e\u0440\u0456\u0439, \u0437\u043e\u043a\u0440\u0435\u043c\u0430 \u2013 \u043f\u0438\u0442\u0430\u043d\u043d\u044f \u0432\u0434\u043e\u0441\u043a\u043e\u043d\u0430\u043b\u0435\u043d\u043d\u044f \u043a\u043e\u043d\u0441\u0442\u0440\u0443\u043a\u0446\u0456\u0457 \u043a\u043e\u043b\u0456\u0441 \u0442\u0430 \u043d\u0430\u0443\u043a\u043e\u0432\u043e-\u043e\u0431\u0491\u0440\u0443\u043d\u0442\u043e\u0432\u0430\u043d\u0438\u0439 \u0432\u0438\u0431\u0456\u0440 \u0457\u0445 \u043f\u0430\u0440\u0430\u043c\u0435\u0442\u0440\u0456\u0432. \u0417\u0430\u0434\u0430\u0447\u0430 \u0431\u0443\u043b\u0430 \u0440\u043e\u0437\u0432\u2019\u044f\u0437\u0430\u043d\u0430 \u0448\u043b\u044f\u0445\u043e\u043c \u043f\u0435\u0440\u0435\u0432\u0456\u0440\u043a\u0438 \u0437\u0430\u043f\u0440\u043e\u043f\u043e\u043d\u043e\u0432\u0430\u043d\u043e\u0457 \u0432 \u0440\u043e\u0431\u043e\u0442\u0456 \u043a\u043e\u043d\u0441\u0442\u0440\u0443\u043a\u0446\u0456\u0457 \u043d\u0430 \u043c\u0456\u0446\u043d\u0456\u0441\u0442\u044c, \u0449\u043e \u0434\u043b\u044f \u0432\u0438\u043f\u0430\u0434\u043a\u0443 \u0434\u0435\u0442\u0430\u043b\u0435\u0439 \u0437 \u043f\u043b\u0430\u0441\u0442\u0438\u043a\u0443 \u0432\u0438\u043c\u0430\u0433\u0430\u0454 \u043f\u0440\u043e\u0432\u0435\u0434\u0435\u043d\u043d\u044f \u043d\u0435\u043b\u0456\u043d\u0456\u0439\u043d\u043e\u0433\u043e \u0441\u0442\u0430\u0442\u0438\u0447\u043d\u043e\u0433\u043e \u0430\u043d\u0430\u043b\u0456\u0437\u0443 \u0442\u0430 \u043f\u043e\u043f\u0435\u0440\u0435\u0434\u043d\u044c\u043e\u0433\u043e \u0432\u0438\u0437\u043d\u0430\u0447\u0435\u043d\u043d\u044f \u0432\u0435\u043b\u0438\u0447\u0438\u043d \u0441\u0438\u043b, \u0449\u043e \u0434\u0456\u044e\u0442\u044c \u043d\u0430 \u043a\u043e\u043b\u0435\u0441\u0430 \u0443 \u0432\u0438\u043f\u0430\u0434\u043a\u0443 \u043f\u0430\u0434\u0456\u043d\u043d\u044f \u043c\u0430\u0448\u0438\u043d\u043a\u0438 \u0437 \u043f\u0435\u0432\u043d\u043e\u0457 \u0432\u0438\u0441\u043e\u0442\u0438. \u041f\u043e\u043a\u0430\u0437\u0430\u043d\u043e \u0437\u0430\u0431\u0435\u0437\u043f\u0435\u0447\u0435\u043d\u043d\u044f \u043a\u043e\u0435\u0444\u0456\u0446\u0456\u0454\u043d\u0442\u0443 \u0437\u0430\u043f\u0430\u0441\u0443 \u043c\u0456\u0446\u043d\u043e\u0441\u0442\u0456 \u0437\u0430 \u043a\u0440\u0438\u0442\u0435\u0440\u0456\u0454\u043c \u043c\u0430\u043a\u0441\u0438\u043c\u0430\u043b\u044c\u043d\u0438\u0445 \u043d\u043e\u0440\u043c\u0430\u043b\u044c\u043d\u0438\u0445 \u043d\u0430\u043f\u0440\u0443\u0436\u0435\u043d\u044c. \u041a\u043e\u043d\u0441\u0442\u0440\u0443\u043a\u0446\u0456\u044f \u0440\u0435\u0430\u043b\u0456\u0437\u043e\u0432\u0430\u043d\u0430 \u0443 \u0432\u0438\u0433\u043b\u044f\u0434\u0456 \u043a\u043e\u043c\u043f\u2019\u044e\u0442\u0435\u0440\u043d\u043e\u0457 3D-\u043c\u043e\u0434\u0435\u043b\u0456 \u0442\u0430 \u0432\u0438\u0433\u043e\u0442\u043e\u0432\u043b\u0435\u043d\u0430 \u043d\u0430 3D-\u043f\u0440\u0438\u043d\u0442\u0435\u0440\u0456.
\n\u041a\u043b\u044e\u0447\u043e\u0432\u0456 \u0441\u043b\u043e\u0432\u0430:<\/strong> \u0440\u043e\u0431\u043e\u0442\u0438\u0437\u043e\u0432\u0430\u043d\u0430 \u043f\u043b\u0430\u0442\u0444\u043e\u0440\u043c\u0430, \u0440\u043e\u0437\u0432\u0456\u0434\u043a\u0430 \u0442\u0435\u0440\u0438\u0442\u043e\u0440\u0456\u0439, \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0437\u043e\u0432\u0430\u043d\u0435 \u043f\u0440\u043e\u0454\u043a\u0442\u0443\u0432\u0430\u043d\u043d\u044f, \u043a\u043e\u043c\u043f\u2019\u044e\u0442\u0435\u0440\u043d\u0435 \u043c\u043e\u0434\u0435\u043b\u044e\u0432\u0430\u043d\u043d\u044f, \u043d\u0435\u043b\u0456\u043d\u0456\u0439\u043d\u0438\u0439 \u0430\u043d\u0430\u043b\u0456\u0437.<\/p>\n

\u0420\u043e\u0437\u0448\u0438\u0440\u0435\u043d\u0430 \u0430\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u0430\u043d\u0433\u043b\u0456\u0439\u0441\u044c\u043a\u043e\u044e \u00a0\u043c\u043e\u0432\u043e\u044e<\/strong><\/p>\n

The design of robotic platform for close reconnaissance of territories is a topical scientific and engineering task, that obviously has a dual purpose \u2013 both civilian and military. Despite the fact that leading global companies are engaged in the development of such technical systems, it is important to ensure operation in difficult conditions, in particular in the conditions of the need for increased passability that requires the development of an improved design of wheels and a scientifically based choice of their parameters \u2013 which was an aim of the paper. The problem was solved by calculating the strength of the design proposed in the work, that for plastic parts requires to conduct a non-linear static analysis, determination of the forces acting on the wheels in case of its falling from a certain height. It was established that the safety factor is sufficient according to the criterion of maximum normal stresses.
\nThe developed new design of wheels for a robotic machine differs from existing designs by an increased diameter and the presence of a tread that significantly increases the passability compared to known prototypes. As a result of the conducted research, it is shown that the cellular structure of the wheel generally increases the strength and rigidity of the wheels. It was also established that despite the increase in the mass of the wheels to ensure the increased passability of the robotic vehicle, the stress value during impact (falling from a height) is reduced due to the proposed rational design of the wheels, while the minimum safety factor according to the criterion of maximum normal stresses is increased. The design is implemented as a computer 3D model and was manufactured using a 3D printer.
\nKey words:<\/strong> robotic platform, reconnaissance of territories, automated design, computer modeling, nonlinear analysis.<\/p>\n

References<\/strong><\/p>\n

    \n
  1. Reza N. Jazar. Theory of applied robotics : kinematics, dynamics, and control [Third ed.], Springer, 2022. \u2013 836 \u0441.<\/li>\n
  2. Boston Dynamics. LEGACY ROBOTS. The robots that built the groundwork for today’s portfolio [\u0415\u043b\u0435\u043a\u0442\u0440\u043e\u043d\u043d\u0438\u0439 \u0440\u0435\u0441\u0443\u0440\u0441] \u2013 \u0420\u0435\u0436\u0438\u043c \u0434\u043e\u0441\u0442\u0443\u043f\u0443 \u0434\u043e \u0440\u0435\u0441\u0443\u0440\u0441\u0443: https:\/\/www.bostondynamics.com\/legacy.<\/li>\n
  3. US Army funds horrifying morphing robot cockroach [\u0415\u043b\u0435\u043a\u0442\u0440\u043e\u043d\u043d\u0438\u0439 \u0440\u0435\u0441\u0443\u0440\u0441] \u2013 \u0420\u0435\u0436\u0438\u043c \u0434\u043e\u0441\u0442\u0443\u043f\u0443 \u0434\u043e \u0440\u0435\u0441\u0443\u0440\u0441\u0443: https:\/\/www.wired.co.uk\/article\/robot-cockroach-study<\/li>\n
  4. Howard W., Musto J. Introduction to Solid Modeling Using SOLIDWORKS 2022 [18 ed.], McGraw Hill, 2022. \u2013 432 \u0441.<\/li>\n
  5. Georgia State University. Department of Physics and Astronomy. HYPERPHYSICS [\u0415\u043b\u0435\u043a\u0442\u0440\u043e\u043d\u043d\u0438\u0439 \u0440\u0435\u0441\u0443\u0440\u0441] \u2013 \u0420\u0435\u0436\u0438\u043c \u0434\u043e\u0441\u0442\u0443\u043f\u0443 \u0434\u043e \u0440\u0435\u0441\u0443\u0440\u0441\u0443: http:\/\/hyperphysics.phy-astr.gsu.edu\/hbase\/flobi.html.<\/li>\n
  6. Mustapha K. Practical Finite Element Simulations with SOLIDWORKS 2022: An illustrated guide to performing static analysis with SOLIDWORKS Simulation, Packt Publishing, 2022. \u2013 480 \u0441.<\/li>\n
  7. Verma G. SolidWorks Simulation 2017 Black Book [4th ed.], 2016. \u2013 479 \u0441.<\/li>\n
  8. Kurowski P. Engineering Analysis with SOLIDWORKS Simulation 2018, CRC Press. \u2013 600 \u0441.<\/li>\n
  9. Coward C. A Beginner\u2019s Guide to 3D Modeling: A Guide to Autodesk Fusion 360, No Starch Press, 2019. \u2013 152 \u0441.<\/li>\n
  10. Sachidanand J. Autodesk Fusion 360 Exercises \u2013 200 Practice Drawings For Fusion 360 and Other Feature-Based Modeling Software, University of KwaZulu-Natal, 2019. \u2013 113 \u0441.<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"","protected":false},"author":3,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1,74],"tags":[],"_links":{"self":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/15392"}],"collection":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=15392"}],"version-history":[{"count":5,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/15392\/revisions"}],"predecessor-version":[{"id":16007,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/15392\/revisions\/16007"}],"wp:attachment":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=15392"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=15392"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=15392"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}