This paper shows the advantage of using hydraulic drives as elements of mobile robot control systems is shown, the advantages and disadvantages of hydrodynamic transmission. We studied the issue of regulating the movement of vehicles with hydrodynamic transmission. A comparative analysis of the methods for controlling the movement of robots equipped with hydraulic drives has been carried out. The relevance of the use of new types of flow dividers to control the movement of a caterpillar robotic platform is substantiated. Also, we describe the principle of operation of the proposed device and its capabilities in the framework of the task of dividing a fluid flow into several in a given ratio. A mathematical model of one of the cascades of the throttle flow divider has been created. We modeled the operation of the hydraulic system of a caterpillar robotic platform with an adjustable flow divider in MATLAB. The modeling results of the developed hydraulic system at various torques on the hydraulic motors of the caterpillar platform are presented. The transfer function of the equalizing cascade of the flow divider is obtained to simplify the further presentation of the described element of the system. We modeled linear and non-linear systems for the validation of linearization and assessed the quality of work of the developed adjustable throttle flow divider under various operating modes. Lastly, we analyzed the advantages of using this device in this domain of mechanical engineering.
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