Kursk, Kursk, Russian Federation
Kursk, Kursk, Russian Federation
Kursk, Kursk, Russian Federation
BBK 344 Общее машиностроение. Машиноведение
The study objective is to develop a robotic complex for underground laying of pipelines. It is shown that such a complex can be developed using the modular design principle, which allows considering the design consisting of two modules - a transfer platform and a drilling machine, which coordinated operation allows performing the required technological process with a given accuracy. A model of the transfer module of an underground mole robot is developed based on mathematical modeling methods, which makes it possible to study and determine the dynamic parameters in the movement of a robotic system. The numerical solution of the obtained equations is carried out in Mathlab platform. A strength analysis of the drill screw is carried out, which made it possible to determine its load capacity and confirm the operability of the proposed structure. The novelty of the work is in finding dynamic loading modes of the main working body of the robot. The results of the conducted research create prerequisites for the development of an automatic control system for an underground robot. Conclusions: a mathematical model of a mobile robot for laying underground pipelines is developed, its operating modes are studied, and a technique for controlling a multidimensional object is proposed; its adjustment is carried out by determining power and positional parameters that are maintained in a given range.
mole robot, laying, pipelines, transfer platform, screw drill, parameters, density, soil, results, modeling
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