Equations of dynamics of a transport robot for the timber industry

Abstract

The main incentive for the introduction of robotic technologies at Russian enterprises of the timber industry complex (LPC) should be a significant increase in labor productivity. Robotic technologies help to maintain non-stop production, perform complex, labor-intensive and energy-consuming production operations 24 hours a day, improve working conditions in production. Meanwhile, robotization could help the industry to cope with the challenges that the domestic timber industry is facing today in the context of limited timber exports. An important topic is the reorientation of enterprises to deeper processing of wood in order to create a product with high added value. The exclusion of the possibility of human error, the speed and accuracy of the processes also testify for the need for investments in robotic technologies. Transport (mobile) robots (TR) can be used not only in factory conditions, but also in greenhouses, greenhouses, nurseries, where plantings are carried out on a regular basis. The increase in the efficiency of such systems is primarily due to an increase in the speed and accuracy of the mobile robot, for which it is necessary to take into account their dynamic characteristics. In this paper, the equations of motion of a transport robot are obtained, the undercarriage of which consists of 2 motor-wheel modules located on the transverse axis of the truck along its sides, and 2 weather vane wheels mounted in front of the truck along its sides. This arrangement of the traction wheels ensures high maneuverability of the vehicle up to turning around the central axis. Direct current electric motors are used as motor-wheel motors, which are powered by an on-board battery. The results obtained are of independent practical interest, and can also be used for mathematical modeling of vehicle movement along the highway, stability studies, etc.