Walking machines for operation on non-cohesive and water-saturated soils

Abstract

The widespread use of wheeled and tracked vehicles in forestry and agriculture is one of the reasons for compaction and subsequent soil degradation. At the same time, it is known that walking machines destroy the upper ecologically vulnerable soil layer to a lesser extent. The main types of existing walking machines that can work on weak-bearing soils are considered. It has been shown that walking movers of the cyclic type are characterized by the greatest simplicity and reliability. A prototype of a multi-purpose walking chassis (weighing about 200 kg) with cyclic propulsors has been developed. A number of technical solutions have been proposed aimed at increasing its adaptability, profile cross-country ability and maneuverability. The walking chassis prototype was tested in real terrain. Tests have confirmed its high cross-country ability and excellent traction and traction properties. In terms of the ecology of the contact effect on the soil, the walking machine is also superior to its analogues with traditional types of propulsors. The results of the work may be in demand when developing walking machines and robots for new soil-saving technologies in forestry and agriculture.