ОПРЕДЕЛЕНИЕ ТРЕБУЕМЫХ ХАРАКТЕРИСТИК ПРИВОДА РАБОЧЕГО ОБОРУДОВАНИЯ РОБОТОТЕХНИЧЕСКОГО СРЕДСТВА ДЛЯ ГУМАНИТАРНОГО РАЗМИНИРОВАНИЯ
Ключевые слова:
Робототехника, робототехническое средство, бойковый трал, сопротивление разрушению грунта, мощность привода, крутящий момент
Аннотация
Целью исследования является разработка методики, позволяющей рассчитать основные па-
раметры, характеризующие способность робототехнического средства, оснащенного бойковым
минным тралом выполнять операции по гумманитарному разминированию. Для этого в рамках
данной работы были решены задачи как расчет крутящего момента на валу бойкового трала,
определение мощности приводящего бойковый трал мотора, а расчетной оценки мощности сило-
вой установки робототехнического средства. В ходе проведения исследований был проанализиро-
ван опыт создания и основные параметры зарубежных средств разминирования с бойковыми
минными тралами – экипажной машины разминирования Hydrema 910 MCV, робототехнического
средства разминирования MV-4, дистанционно-управляемой машины разминирования ДУМ-Р
«Уран-6», дистанционно-управляемого минного трала МТ-2. Также были проанализированы ос-
новные особенности рабочего органа рассматриваемых машин, а именно бойкового минного тра-
ла. В основу разработанной методики положена методика расчета силы сопротивления разруше-
ния грунта и взрывоопасного предмета ВОП при воздействии байком, опирающуюся на теорию
взаимодействия рабочих органов землеройных машин, разработанную академиком Н.Г. Домбров-
ским. Также при разработке данной методики были использованы результаты работ по расчету
конструкции бойкового трала выполненные хорватскими специалистами Винковича Н., Стойко-
вича В. и Микулича Д. При этом расчёты были проведены для различных грунтов, которые в зави-
симости от удельного сопротивления резанью поделены на 4 категории: песчаная глина, гравий;
плотная глина, уголь; твердая глина с гравием; средний сланец, мел, мягкий гипсовый камень. По-
лученные данные стали фактически массивом исходной информации, которая вместе с известными физическими зависимости позволили сформировать массив расчётных формул, которые
позволяют рассчитать крутящий моментн на валу бойкового трала, мощность приводящего бой-
ковый трал мотора, а также мощность силовой установки робототехнического средства, и тем
самым решить научную проблему, поставленную в начале исследования.
Литература
1. Danilov K.Yu., Ceroshtanov A.V., Lopatin D.S. Opyt primeneniya nazemnykh robototekhnicheskikh
kompleksov v FGKU TSSOOR «Lider» [Experience with the use of ground robotic systems in FGKU
ZCOOR the "LEADER"], Primenenie robototekhnicheskikh kompleksov spetsial'nogo naznacheniya:
Sb. trudov KHKHVIII Mezhdunarodnoy nauchno-prakticheskoy konferentsii [The use of specialpurpose
robotic systems. Proceedings of the XXVIII International Scientific and Practical Conference],
2018, pp. 20-24.
2. Polevoy E.V., Naydenov D.S., Gudoshnikov A.A., Lopatin D.S. Analiz sovremennogo sostoyaniya
gruppirovki robototekhnicheskikh kompleksov MCHS Rossii [Analysis of the current state of the
group of robotic complexes of the Emercom of Russia], Nauchnye i obrazovatel'nye problemy
grazhdanskoy zashchity [Scientific and educational problems of civil protection], 2021, No. 4 (51),
pp. 43-53.
3. Spitsin D.V., Lagutina A.V. Perspektivy primeneniya robototekhnicheskikh kompleksov pri provedenii
rabot, svyazannykh s poiskom i obezvrezhivaniem vzryvoopasnykh predmetov [Prospects for
the use of robotic complexes in carrying out work related to the search and neutralization of explosive
objects], III Nauchno-prakticheskaya konferentsiya po razvitiyu robototekhniki v oblasti
obespecheniya bezopasnosti zhiznedeyatel'nosti "RoboEmercom": Sb. materialov konferentsii [III Scientific
and practical Conference on the development of robotics in the field of life safety
"RoboEmercom": Collection of conference materials]. Moscow, 2023, pp. 195-198.
4. Habib M., Baudoin Y. Mechanical mine clearance: Development, applicability and difficulties. Published,
2011. Engineering, Environmental Science.
5. Habib M. Humanitarian demining: Difficulties, needs and the prospect of technology, Published in
IEEE International Conference. 1 August 2008. Engineering, Environmental Science.
6. Vasil'ev V.L. Gumanitarnoe razminirovanie osnovnye problemy i uroki [Humanitarian demining main
problems and lessons], Gumanitarnye operatsii pri chrezvychaynykh situatsiyakh i v vooruzhennykh
konfliktakh: Sed'maya vserossiyskaya nauchno-prakticheskaya konferentsiya: Doklady i vystupleniya.
Tsentr strategicheskikh issledovaniy grazhdanskoy zashchity MChS Rossii [Humanitarian operations in
emergency situations and in armed conflicts. The seventh All-Russian Scientific and Practical conference:
Reports and speeches. The Center for Strategic Studies of Civil Protection of the Ministry of
Emergency Situations of Russia], 2002, pp. 129-141.
7. Moshkov V.B., Barannik A.Yu. Perspektivy razvitiya sistemy robototekhniki MChS Rossii v interesakh
povysheniya effektivnosti vedeniya avariyno-spasatel'nykh rabot [Prospects for the development of the
robotics system of the Ministry of Emergency Situations of Russia in the interests of improving the efficiency
of emergency rescue operations], Tekhnologii grazhdanskoy bezopasnosti. Spetsvypusk
[Technologies of civil safety. Special issue], 2021, pp. 124-126.
8. Alekhin M.V., Petrosyan A.E., Shakhovtsev K.V. Mobil'nye platformy dlya razminirovaniya [Mobile platforms
for mine clearance], Aktual'nye voprosy i osnovy mezhdunarodnogo sotrudnichestva v sfere
vysokikh tekhnologiy: Sb. statey po itogam Mezhdunarodnoy nauchno-prakticheskoy konferentsii [Current
issues and fundamentals of international cooperation in the field of high technologies: Collection of
articles on the results of the International Scientific and Practical Conference – 2017], 2017, pp. 4-5.
9. Nazarova M.S., Zakharov A.E. Robototekhnicheskie sredstva razminirovaniya i rassnaryazheniya
vzryvnykh ustroystv [Robotic means of mine clearance and discharge of explosive devices],
Obrazovanie. Kul'tura. Obshchestvo: Sb. statey LXXI Mezhdunarodnoy nauchnoy konferentsii [Education.
Culture. Society. Collection of articles of the LXXI International Scientific Conference]. Saint
Petersburg, 2023, pp. 60-64.
10. Belov A.A., Men'k A.R., Pokryshkin A.B. Razvitie otechestvennykh minnykh tralov. Sovremennye
sredstva razminirovaniya [Development of domestic minesweepers. modern means of mine clearance],
Nauka YuUrGU: Mater. 71-y nauchnoy konferentsii. Yuzhno-Ural'skiy gosudarstvennyy universitet
[SUSU Science. materials of the 71st scientific conference. South Ural State University], 2019,
pp. 546-555.
11. Trar Theimer. Summary Report 910 Mechanical Clearance Device James Madison University.
12. YOUR SOLUTION FOR DEMINING & COUNTER-IED docs.tuyap.online›FDOCS/23577.pdf.
13. Jane's Military Vehicles and Logistics 2007-2008. 28th ed., Coulsdon, Surrey, UK.
14. Essers M.S., Vaneker T.N.J. Developing Concepts for Improved Efficiency of Robot Work Preparation,
Procedings CIRP, 2013, Vol. 7, pp. 515-520. DOI.org/10.1016/j.procir.2013.06.025.
15. Вeloglazov D., Pereverzev V., Soloviev V., Pshikhopov V., Morozov R. Method of Formation of Quantitative
Indicators of Complexity of the Environment by a Group of Autonomous Mobile Robots,
Journal of Robotics, 2020, No. 3, pp. 1-14. DOI: 10.1155/2020/6874291.
16. Altshuler Н., Wagner I.V., Bruckstein F.M. With caution-decreasing a swarm robotics' efficiency by
imprudently enhancing the robots' capabilities, IEEE Xplore Conference: Autonomous Robots and
Agents, 2009. DOI: 10.1109/ICARA.2000.4804014.
17. Elshamy W. Adaptive Control in Swarm Robotics Computer Science, 2021. Available at: https://www.
semanticscholar.org/paper/Adaptive-Control-in-Swarm-Robotics-
Elshamy/b112317012d4380a0311276936ddefd7c8cddd16.
18. Tomokie Burton, Kushwaha R. Development of a Mechanical Device for Landmine Neutralization.
Published, 2006. Engineering, Environmental Science.
19. Griffiths Alexander, Kaminsky Leonard. Mechanical Application in Demining: Modernising Clearance
Methods. Published, 2003. Engineering Journal of Conventional Weapons Destruction.
20. Rubinstein D., Wolf D. De-mining device based on chain impact. Published, 1999. Engineering Transactions
of the ASABE.
21. Kalinichenko V.P., Zarmaev A.A. Ustroystvo dlya razminirovaniya territoriy prinuditel'nym podryvom
min v gumanitarnykh tselyakh [A device for demining territories by forcibly detonating mines for humanitarian
purposes], Vestnik Akademii nauk Chechenskoy Respubliki [Bulletin of the Academy of
Sciences of the Chechen Republic], 2012, No. 1 (16), pp. 65-75.
22. Naumov V.N., Mashkov K.YU., Noskov S.S., Borisov A.V., Vas'kov V.A. Vybor i otsenka sistemy
energoobespecheniya mobil'nykh robotov: ucheb. posobie [Selection and evaluation of the energy
supply system for mobile robots: a textbook]. Novogorsk: AGZ MCHS Rossii, 2003, 52 p.
23. Noskov S.S., Gudoshnikov A.A., Rybina A.V. Raschet kombinirovannogo istochnika elektricheskoy
energii mobil'nogo robototekhnicheskogo sredstva spetsial'nogo naznacheniya [Calculation of a combined
electric power source of a mobile robotic device for special purposes], Primenenie
robototekhnicheskikh kompleksov spetsial'nogo naznacheniya: Sb. trudov ХХXIII Mezhdunarodnoy
nauchno-prakticheskoy konferentsii [Application of robotic complexes for special purposes. Proceedings
of the XXXIII International Scientific and Practical Conference]. Khimki, 2023, pp. 49-55.
24. Vinkovic N., Stojkovic V., Mikulic D. Design of Flail for Soil Treatment, 5th DAAAM International
Conference on Advanced Technologies for Developing Countries. University of Rijeka, Rijeka, 2006.
25. Dombrovskiy N.G. i dr. Stroitel'nye mashiny: uchebnik dlya vu ov po spets. «Stroit. i dor. mashiny i
oborudovanie» [Construction machines: textbook for universities on the specialty "Builds furniture
and road machinery and equipment"]: In 2 part. Part 1. Moscow: Mashinostroenie, 1985, 391 p.
26. Dombrovskiy N.G. i dr. Stroitel'nye mashiny: uchebnik dlya vu ov po spets. «Stroit. i dor. mashiny i
oborudovanie» [Construction machines: textbook for universities specializing in "Construction and
road machinery and equipment"]: In 2 part. Part 2. Moscow: Vysshaya shkola, 1985, 224 p.
27. YASA P400 R Series. Available at: https://www.yasa.com/products/ yasa-p400/ (accessed 18 November
2023).
28. Green W.E. The case for the flail: Mechanical Landmine Clearance for the Humanitarian Application
A Manufacturer's View, Engineering, Political Science Journal of Conventional Weapons Destruction,
1999.
kompleksov v FGKU TSSOOR «Lider» [Experience with the use of ground robotic systems in FGKU
ZCOOR the "LEADER"], Primenenie robototekhnicheskikh kompleksov spetsial'nogo naznacheniya:
Sb. trudov KHKHVIII Mezhdunarodnoy nauchno-prakticheskoy konferentsii [The use of specialpurpose
robotic systems. Proceedings of the XXVIII International Scientific and Practical Conference],
2018, pp. 20-24.
2. Polevoy E.V., Naydenov D.S., Gudoshnikov A.A., Lopatin D.S. Analiz sovremennogo sostoyaniya
gruppirovki robototekhnicheskikh kompleksov MCHS Rossii [Analysis of the current state of the
group of robotic complexes of the Emercom of Russia], Nauchnye i obrazovatel'nye problemy
grazhdanskoy zashchity [Scientific and educational problems of civil protection], 2021, No. 4 (51),
pp. 43-53.
3. Spitsin D.V., Lagutina A.V. Perspektivy primeneniya robototekhnicheskikh kompleksov pri provedenii
rabot, svyazannykh s poiskom i obezvrezhivaniem vzryvoopasnykh predmetov [Prospects for
the use of robotic complexes in carrying out work related to the search and neutralization of explosive
objects], III Nauchno-prakticheskaya konferentsiya po razvitiyu robototekhniki v oblasti
obespecheniya bezopasnosti zhiznedeyatel'nosti "RoboEmercom": Sb. materialov konferentsii [III Scientific
and practical Conference on the development of robotics in the field of life safety
"RoboEmercom": Collection of conference materials]. Moscow, 2023, pp. 195-198.
4. Habib M., Baudoin Y. Mechanical mine clearance: Development, applicability and difficulties. Published,
2011. Engineering, Environmental Science.
5. Habib M. Humanitarian demining: Difficulties, needs and the prospect of technology, Published in
IEEE International Conference. 1 August 2008. Engineering, Environmental Science.
6. Vasil'ev V.L. Gumanitarnoe razminirovanie osnovnye problemy i uroki [Humanitarian demining main
problems and lessons], Gumanitarnye operatsii pri chrezvychaynykh situatsiyakh i v vooruzhennykh
konfliktakh: Sed'maya vserossiyskaya nauchno-prakticheskaya konferentsiya: Doklady i vystupleniya.
Tsentr strategicheskikh issledovaniy grazhdanskoy zashchity MChS Rossii [Humanitarian operations in
emergency situations and in armed conflicts. The seventh All-Russian Scientific and Practical conference:
Reports and speeches. The Center for Strategic Studies of Civil Protection of the Ministry of
Emergency Situations of Russia], 2002, pp. 129-141.
7. Moshkov V.B., Barannik A.Yu. Perspektivy razvitiya sistemy robototekhniki MChS Rossii v interesakh
povysheniya effektivnosti vedeniya avariyno-spasatel'nykh rabot [Prospects for the development of the
robotics system of the Ministry of Emergency Situations of Russia in the interests of improving the efficiency
of emergency rescue operations], Tekhnologii grazhdanskoy bezopasnosti. Spetsvypusk
[Technologies of civil safety. Special issue], 2021, pp. 124-126.
8. Alekhin M.V., Petrosyan A.E., Shakhovtsev K.V. Mobil'nye platformy dlya razminirovaniya [Mobile platforms
for mine clearance], Aktual'nye voprosy i osnovy mezhdunarodnogo sotrudnichestva v sfere
vysokikh tekhnologiy: Sb. statey po itogam Mezhdunarodnoy nauchno-prakticheskoy konferentsii [Current
issues and fundamentals of international cooperation in the field of high technologies: Collection of
articles on the results of the International Scientific and Practical Conference – 2017], 2017, pp. 4-5.
9. Nazarova M.S., Zakharov A.E. Robototekhnicheskie sredstva razminirovaniya i rassnaryazheniya
vzryvnykh ustroystv [Robotic means of mine clearance and discharge of explosive devices],
Obrazovanie. Kul'tura. Obshchestvo: Sb. statey LXXI Mezhdunarodnoy nauchnoy konferentsii [Education.
Culture. Society. Collection of articles of the LXXI International Scientific Conference]. Saint
Petersburg, 2023, pp. 60-64.
10. Belov A.A., Men'k A.R., Pokryshkin A.B. Razvitie otechestvennykh minnykh tralov. Sovremennye
sredstva razminirovaniya [Development of domestic minesweepers. modern means of mine clearance],
Nauka YuUrGU: Mater. 71-y nauchnoy konferentsii. Yuzhno-Ural'skiy gosudarstvennyy universitet
[SUSU Science. materials of the 71st scientific conference. South Ural State University], 2019,
pp. 546-555.
11. Trar Theimer. Summary Report 910 Mechanical Clearance Device James Madison University.
12. YOUR SOLUTION FOR DEMINING & COUNTER-IED docs.tuyap.online›FDOCS/23577.pdf.
13. Jane's Military Vehicles and Logistics 2007-2008. 28th ed., Coulsdon, Surrey, UK.
14. Essers M.S., Vaneker T.N.J. Developing Concepts for Improved Efficiency of Robot Work Preparation,
Procedings CIRP, 2013, Vol. 7, pp. 515-520. DOI.org/10.1016/j.procir.2013.06.025.
15. Вeloglazov D., Pereverzev V., Soloviev V., Pshikhopov V., Morozov R. Method of Formation of Quantitative
Indicators of Complexity of the Environment by a Group of Autonomous Mobile Robots,
Journal of Robotics, 2020, No. 3, pp. 1-14. DOI: 10.1155/2020/6874291.
16. Altshuler Н., Wagner I.V., Bruckstein F.M. With caution-decreasing a swarm robotics' efficiency by
imprudently enhancing the robots' capabilities, IEEE Xplore Conference: Autonomous Robots and
Agents, 2009. DOI: 10.1109/ICARA.2000.4804014.
17. Elshamy W. Adaptive Control in Swarm Robotics Computer Science, 2021. Available at: https://www.
semanticscholar.org/paper/Adaptive-Control-in-Swarm-Robotics-
Elshamy/b112317012d4380a0311276936ddefd7c8cddd16.
18. Tomokie Burton, Kushwaha R. Development of a Mechanical Device for Landmine Neutralization.
Published, 2006. Engineering, Environmental Science.
19. Griffiths Alexander, Kaminsky Leonard. Mechanical Application in Demining: Modernising Clearance
Methods. Published, 2003. Engineering Journal of Conventional Weapons Destruction.
20. Rubinstein D., Wolf D. De-mining device based on chain impact. Published, 1999. Engineering Transactions
of the ASABE.
21. Kalinichenko V.P., Zarmaev A.A. Ustroystvo dlya razminirovaniya territoriy prinuditel'nym podryvom
min v gumanitarnykh tselyakh [A device for demining territories by forcibly detonating mines for humanitarian
purposes], Vestnik Akademii nauk Chechenskoy Respubliki [Bulletin of the Academy of
Sciences of the Chechen Republic], 2012, No. 1 (16), pp. 65-75.
22. Naumov V.N., Mashkov K.YU., Noskov S.S., Borisov A.V., Vas'kov V.A. Vybor i otsenka sistemy
energoobespecheniya mobil'nykh robotov: ucheb. posobie [Selection and evaluation of the energy
supply system for mobile robots: a textbook]. Novogorsk: AGZ MCHS Rossii, 2003, 52 p.
23. Noskov S.S., Gudoshnikov A.A., Rybina A.V. Raschet kombinirovannogo istochnika elektricheskoy
energii mobil'nogo robototekhnicheskogo sredstva spetsial'nogo naznacheniya [Calculation of a combined
electric power source of a mobile robotic device for special purposes], Primenenie
robototekhnicheskikh kompleksov spetsial'nogo naznacheniya: Sb. trudov ХХXIII Mezhdunarodnoy
nauchno-prakticheskoy konferentsii [Application of robotic complexes for special purposes. Proceedings
of the XXXIII International Scientific and Practical Conference]. Khimki, 2023, pp. 49-55.
24. Vinkovic N., Stojkovic V., Mikulic D. Design of Flail for Soil Treatment, 5th DAAAM International
Conference on Advanced Technologies for Developing Countries. University of Rijeka, Rijeka, 2006.
25. Dombrovskiy N.G. i dr. Stroitel'nye mashiny: uchebnik dlya vu ov po spets. «Stroit. i dor. mashiny i
oborudovanie» [Construction machines: textbook for universities on the specialty "Builds furniture
and road machinery and equipment"]: In 2 part. Part 1. Moscow: Mashinostroenie, 1985, 391 p.
26. Dombrovskiy N.G. i dr. Stroitel'nye mashiny: uchebnik dlya vu ov po spets. «Stroit. i dor. mashiny i
oborudovanie» [Construction machines: textbook for universities specializing in "Construction and
road machinery and equipment"]: In 2 part. Part 2. Moscow: Vysshaya shkola, 1985, 224 p.
27. YASA P400 R Series. Available at: https://www.yasa.com/products/ yasa-p400/ (accessed 18 November
2023).
28. Green W.E. The case for the flail: Mechanical Landmine Clearance for the Humanitarian Application
A Manufacturer's View, Engineering, Political Science Journal of Conventional Weapons Destruction,
1999.
Опубликован
2024-08-12
Выпуск
Раздел
РАЗДЕЛ I. ВЫЧИСЛИТЕЛЬНЫЕ И ИНФОРМАЦИОННО-УПРАВЛЯЮЩИЕ СИСТЕМЫ
