STAND FOR INVESTIGATING MOTION OF LOADED MOBILE ROBOT WITH WHEEL SLIPPAGE Russian patent published in 2018 - IPC G01M17/00 

FIELD: testing equipment.

SUBSTANCE: invention relates to a testing technique and is intended to investigate the motion of automatically controlled mobile robots. Stand for investigating the motion of a loaded mobile robot in the presence of wheel slippage consists of a platform supported by two inclined posts connected to the frame and platform, and two axes of the drive wheels of the mobile robot, arranged in a diamond pattern with respect to the inclined pillars. Drive wheels of the mobile robot are supported by the respective circular platforms fixed in their centers on vertical axes installed at their lower ends in bearing bearings fixedly connected to the frame. In this case, under each circular platform are mounted on vertical racks fixed to the frame, sensors of circular platforms. Shafts of DC motors are rigidly connected to the shafts of the DC tachogenerators, whose outputs, like the outputs of strain gauges installed under the bearing bearings of the vertical axes connected to the centers of the circular platforms, are connected via the input-output device to the inputs of the on-board controller. All electrical and electronic elements of the onboard control system are connected to the power supply.

EFFECT: expanded functionality of the stand.

1 cl, 6 dwg