Determination of the influence of soil irregularities on dynamic processes in caterpillar engines of a terrestrial robotic complex

The paper describes the change of geometry caterpillar terrestrial robotic complex depending on external factors. It is established that as a result action centrifugal forces elongates, surface support rollers, repeats their shape, upper part acquires convex and lower shape curve, which determines unevenness soil. dependence soil irregularities established. peculiarity there ripple with number waves between rollers 1-2. presence irregularities, harmonic components profiles have period about 4/3 distance extreme leads to greatest tensile loads in corresponding changes length. dependences determining elongation caterpillar, proportional square amplitude component roughness are obtained.