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• DESIGN AND SIMULATING GENERAL APPROACHES OF AN ARTICULATED WHEELED-LEGGED CHASSIS OF THE LUNAR ROVER

  А.V. Vasiliev , I.V. Shardyko , Y.А. Zhukov

  2026-04-29

  Abstract ▼

  The paper considers the problem of constructing a chassis for a research lunar rover with ultra-high traversability over uncertain terrain with soft soil. Direct remote and supervisory control of modern complex robotic systems in non-deterministic environment places an increased workload on the operator, especially in the case of high-traversability mobile platforms with a large number of degrees of freedom (DoF) requiring coordinated control. In this regard, the problem of automating the movement of such a multi-DoF chassis as well as automating the motion planning depending on situation based on sensor feedback becomes relevant. This article proposes a concept for a multi-degree chassis for a research lunar rover, including a design and layout scheme of the chassis and a method for its application, i.e., motion algorithms on various types of rough terrain. A methodology for control algorithms design is proposed, and a brief description of the developed algorithms and the simulation models of the chassis for its preliminary testing is provided. The final outcome of this work is expected to be a number of experimentally obtained characteristics of the laboratory chassis model and the verification of the developed computer models and control algorithms of the multi-DOF chassis. Completing these tasks will provide scientific and technical groundwork for the motion control of wheeled- legged systems and improve the quality of lunar rovers' modeling and design. The results obtained at this stage allow us to move on to the manufacturing an experimental prototype and conducting physical experiments on this prototype to test the developed algorithms and simulation models. Experimental verification of the multi-DoF chassis control algorithms and their design methodology will improve the level of autonomy of future mobile robots designed to operate in extreme off-planet conditions

• VARIABLE RIGIDITY MODULAR JOINT FOR MANIPULATORS OF ROBOTIC SYSTEM

  А.V. Vasiliev, I.V. Shardyko, V.М. Kopylov

  2023-04-10

  Abstract ▼

  The article considers the actuated joint designs with added elasticity and equipped with a
  mechanism for changing the value of this elasticity (adjustable stiffness) for robotic manipulators.
  To date, there are no workable joint actuators with variable stiffness (VSA) in Russia. At the same
  time, intensive research is being carried out around the world on various types of such joint actuators
  and manipulators based on them. Although until now all the products created have mostly
  been of an experimental and research nature, in the near future we can expect the appearance and
  implementation of prototypes of VSA to solve specific practical problems that make it possible to
  build manipulators with new qualities and improved technical characteristics. Such manipulators
  will be in demand when solving tasks related to contact operations that require increased accuracy,
  correctness and safety of execution, for example, in situations where a robot and a person are
  in a single operating space. The aim of the proposed study is to form a scientific and technical
  groundwork in the field of manipulator actuators design with adjustable stiffness in the form of
  developing methodological recommendations for designing VSAs for the required specific tasks
  and for using them as part of manipulation systems. To do this, at the initial stage of the study, the
  tasks of analyzing and systematizing the existing technical solutions for stiffness control mechanisms
  and constructing our own VSA for subsequent physical experiments are solved. To date,
  there are a huge number of different options for the implementation of VSAs, which have their own
  advantages for specific areas of application. There are no optimal devices for all types of tasks.
  Proceeding from this, it is proposed to conduct a study of VSAs in the three most perspective
  trends, in the opinion of the authors, using fundamentally different options for implementing the
  variable stiffness. The combination of completely different options within a single design is proposed
  to be implemented on the basis of a modular approach to constructing a research VSA,
  which makes it quite easy and without the use of any special tools to reconfigure the actuator joint
  from one option to another, using at the same time a number of common (typical) modules, which
  significantly saves resources for the development and study of such an actuator. The article provides
  a brief description of the design features of the proposed modular research VSA and stiffness
  control modules. The results obtained allow us to proceed to the stage of making a mockup VSA
  model and setting up physical experiments to study various types of VSAs.