OPERATING CONDITIONS FOR MULTI-DEGREE-OF-FREEDOM ACTUATORS IN MULTIMODAL COMBAT SUPPORT ROBOTS

Abstract

The paper investigates the operating conditions of a multi-degree-of-freedom drive intended for multimodal robotic platforms used in military support operations. The growing demand for robotic systems capable of performing reconnaissance, logistics, engineering, and rescue missions in hazardous environments requires the development of adaptive locomotion mechanisms. A review of existing multimodal robots demonstrates the advantages of combining different locomotion modes, including wheeled, legged, aerial, and amphibious movement. A concept of a reconfigurable robotic platform with a variable-geometry chassis is proposed. The platform is based on wheel modules capable of changing their spatial orientation through a drive system incorporating spherical joints and harmonic gear transmissions. The developed architecture enables multiple operational modes, including high-speed wheeled motion, enhanced obstacle-crossing capability, vertical observation, and potential aerial mobility. The study identifies the kinematic, geometric, stability, and power requirements necessary for reliable operation of the drive system. Particular attention is paid to the integration of harmonic drives within spherical joints, providing compact dimensions, high positioning accuracy, and increased torque transmission. The obtained results confirm the feasibility of using multi-degree-of-freedom drives for the development of adaptive multimodal robots capable of effective operation under the challenging conditions of the modern battlefield.