SYMMETRIC THREE-AXIS PROPULSOR WITH LINEAR SLIDING SUPPORT AND BUILT-IN CONTROL DEVICE, AND SYMMETRIC WALKING PLATFORM ON ITS BASIS Russian patent published in 2018 - IPC B62D57/02 B62D57/32 

FIELD: transportation.

SUBSTANCE: symmetric walking platform comprises structurally independent symmetric three-axis propulsors. The symmetric three-axis propulsor comprises three consecutively articulated controlled links and a guiding mount, within which the support moves. Each propulsor link is controlled by a separate servo drive. The servo drive of the first link allows to set the degree of extension of the support from the mount. The servo drive of the second link provides the support movement in the vertical plane. The servo drive of the third link provides the support movement in the horizontal plane. The propulsors control device is implemented on the basis of a functionally oriented microcontroller.

EFFECT: increasing the possibility, manoeuvrability and stability of walking vehicles on unprepared surfaces with varying width, relief and composition, capable of serviceability self-recovery under the impact of external mechanical disturbances and capable of functioning in an inverted position.

3 cl, 1 tbl, 4 dwg