Mobile robotic air cushion system

• Published in: IOP Conference Series: Earth and Environmental Science
• Main Authors: Kochneva, O V, Podkolzina, L V, Kozlovich, A V, Shabanov, D V
• Format: Article in Journal/Newspaper
• Language: unknown
• Published: IOP Publishing 2020
• Subjects: Arctic
• Online Access: http://dx.doi.org/10.1088/1755-1315/539/1/012119; https://iopscience.iop.org/article/10.1088/1755-1315/539/1/012119/pdf; https://iopscience.iop.org/article/10.1088/1755-1315/539/1/012119

Abstract Currently, a variety of mobile robotic platforms are widely used. One of its areas of application is the transportation of heavy loads. In addition, such systems can be used in the development of the Arctic as auxiliary tools for the construction and maintenance of research bases and equipment warehouses on them. Also, the use of mobile robotic platforms will increase the efficiency of mineral development in the Arctic shelf zone and, in the future, automate this process to a greater or lesser extent. At the same time, classic mobile robotic platforms have a number of serious disadvantages that are associated with their design. The main problem is the high degree of wear on the rollers and the relatively rapid destruction of the main structural elements due to the resulting transverse forces. These forces occur due to errors when installing the rollers. But they can be significantly reduced by equipping the mobile platform with an air cushion. This article defines the importance of using an air cushion in the design of mobile robotic platforms. A schematic diagram of a classic hovercraft is described. The existing schemes for creating an air cushion skirt are presented, their main characteristic features are noted, and advantages and disadvantages are indicated. The layout of a mobile robotic platform on an air cushion is presented. A dependence is obtained that shows the effectiveness of using an air cushion for this layout. The analysis of its movement parameters is made, the dependences between the required power of the supercharger and the weight of the transported cargo are investigated, depending on the size of the gap between the seal and the floor.