UNUSUAL VEHICLESWhat could be easier and more efficient wheel? This question asked a students of MVTU named after N. E. Bauman, and replies to it may serve as the exhibition NTTM-76, which aroused universal interest of visitors. This interest is not accidental: the mechanisms were distinguished by the uniqueness, originality, novelty.

Where else can you see a six-legged metal monster, which is busily buzzing walks, obeying the operator’s commands? Or creeping on the floor like a living caterpillar, the huge machine with the grid body?
…Student design office (SDO) is working i school about ten years. In it students apply in practice the knowledge gained at the University.
Classes in the SDO is closely connected with the educational process. Each big development of students-designers consists of several student projects. It unites children in a kind of design team where everyone is responsible for the design of one or two nodes of a future mechanism, but the result is a completely finished car. From Nikoleta and hang gliding to more unusual vehicles such creative range of Hobbies Bauman.
But to design any device is half the battle. The design still needs to bring in metal, and students go on to become locksmiths, machinists.
Academic year student to the limit downloaded day. It is not easy with full dedication to work in SPKB. But why, exactly, it is possible to construct only in the winter months? But if summer? And by analogy with the SSO — student’s building group in the school organized standard deviation: student design team. Its members during the third summer semester to design, calculate and manufacture their cars.
Some do not part with SDO and after graduation, and many graduates receive a distribution in the enterprise, where they continue development to those born in SPKB Design and manufacture of the most original Rovers, with whom we began our story, is engaged in the SDO lab vehicles. Here models are a series of tests, including the measurement of motion parameters, and the observation of the behavior of cars in unusual conditions — in soft ground, rough terrain, etc. an Independent field of study — the influence of reduced gravity on the behavior of vehicles, and the use in vehicles of movement principles, borrowed from nature.
The machine model is a self-propelled platform with six original engines of the feet. They are all connected in a single kinematic chain with electric motor.
Structurally, each leg is a simple combination of three mechanisms. Its reciprocating movement carries the rocker mechanism. Chetyrehdverny hinge with a sliding support “follows” that when the movement of a foot forward she was raised, and the movement back down. Finally, the articulated parallelogram ensures ploskorelefnoj the ascent and descent of “Shin”.
Fig. 1. Walker. Top left — phase motion of the Walker.
Fig. 1. Walker. Top left — phase motion of the Walker.
Fig. 2. The design of the
Fig. 2. The design of the “legs” Walker.
Fig. 3. Wholehog.
Fig. 3. Wholehog.
The movement of all legs is synchronous, since they are rigidly connected with guitar gears. “Gait” of the machine is determined by the choice of the initial phase of each leg.
The Walker model is designed to study kinematics of motion, stability and degree of fluctuations of a body in terms of different “gaits”, the definitions of energy transfer. It is designed and built by Boris Miroshnikov, N. Goncharov and Yelena Stepanenko.
Volneho — the name of this model was for the fact that seventeen of its propulsion-RAM when moving form a traveling wave — a sine wave. The developers of this model borrowed the principle of the movement of a caterpillar.
All seventeen of RAM wanaheda done exactly the same, which gives the possibility of layout of a vehicle of this magnitude, what is currently required by the constructor.
Each of the frames is pivotally connected with the two sitting on the same axis and performing a rotary motion of the cranks. Located on the axes of stars that encircles the endless Bush roller chain. Thus, all the links are kinematically connected to each other.
Fig. 4. The design of the mover Vologda
Fig. 4. The design of the mover wanaheda:
1 — frame mover, 2 is a flexible tape, 3 — hinge, 4 — crank, 5 — star, 6 — Bush roller chain, 7 — shaft, 8 — housing.

Fig. 5. Transport vehicle with a discrete mover
Fig. 5. Transport machine with discrete propulsion:
1 — propulsion, 2 — frame, 3 — motor, 4 — hinge, 5 — body.

Fig. 6. Options discrete mover
Fig. 6. Options discrete propulsion:
A — odnoimennoy, B — lobe.

The wave effect is obtained due to the fact that each crank is offset from the previous by a specific angle — in this case 45°. Design wanaheda allows you to change the angle to find the optimal parameters of the wave propulsion.
Model created by D. Romanov, S. Leonov and A. Ignatochkina. is suitable for testing soils with different bearing capacity and determination of traction characteristics.
The most interesting element of this car model is an unusual wheel, called by the authors “discrete mover”. It is a package of circular sectors, each of which is shifted relative to the other at a certain angle.
The model is a four-wheeled self-propelled trolley. Another distinctive feature of this vehicle — presence “lamivudine” frame, giving each of the two-wheeled carts known independence while overcoming irregularities in the terrain.
The model provides the ability to install different types of wheel elements. Some of them are shown in the figure. The authors of this unusual machine — students and staff of Bauman V. Salikov, S. Semenov, P. Lutsenko, and V. Goncharov
I. EVSTRATOV, engineer

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