Humanitarian Demining Serial-Tracked Robot: Design and Dynamic Modeling-Reference-Cited by-同舟云学术

Humanitarian Demining Serial-Tracked Robot: Design and Dynamic Modeling

Published:2023-05-12 Issue:5 Volume:11 Page:548
ISSN:2075-1702
Container-title:Machines
language:en
Short-container-title:Machines

Author:

Petrişor Silviu Mihai¹^ORCID,Simion Mihaela²,Bârsan Ghiţã¹,Hancu Olimpiu³^ORCID

Affiliation:

1. Department of Technical Science, “Nicolae Bălcescu” Land Forces Academy of Sibiu, 550170 Sibiu, Romania

2. Department of Strength of Materials, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania

3. Department of Mechatronics and Machine Dynamics, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania

Abstract

The paper proposes an original mechanical structure of a serial-tracked robot, subject of national invention patent number RO132301, B1/2021, destinated for humanitarian demining operations: anti-personnel mine detection by using a detection device mounted on the bottom’s tracked platform, demining and clearing the land of exploded mines using a TRTTR robot structure. The dynamic model of the robot structure is determined and numerically validated. A novel approach based on the Lagrange formalism and mechanical design equations has been used in the calculus and selection of robot driving motors. The obtained results for robot translation modules are presented and analyzed.

Funder

Ministry of National Defense of Romania

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering

Link

https://www.mdpi.com/2075-1702/11/5/548/pdf

Reference40 articles.

1. RETRACTED: An autonomous all terrain robotic system for field demining missions;Portugal;Robot. Auton. Syst.,2015

2. Multisensor Demining Robot;Rachkov;Auton. Robot.,2005

3. (2023, January 07). Available online: https://reliefweb.int/report/colombia/colombia-antipersonnel-mines-and-explosive-remnants-war.

4. A New Approach to Humanitarian Demining Part 1: Mobile Platform for Operation on Unstructured Terrain;Debenest;Auton. Robot.,2005

5. (2023, January 07). Available online: https://reliefweb.int/report/mali/mali-increase-civilian-victims-explosive-devices-dg-echo-unmas-echo-daily-flash-14-october-2022.

Cited by 4 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Modeling, simulation, and experiments of a flexible track robot over rigid horizontal and inclined surfaces;Mechanism and Machine Theory;2024-09

2. W-Leg Jumping Robot: Mechanical Design, Dynamical Analysis and Simulation of Jumping Dual Wheel-Leg Hybrid Robot;Arabian Journal for Science and Engineering;2024-05-03

3. Using LiDAR Data as Image for AI to Recognize Objects in the Mobile Robot Operational Environment;Communications in Computer and Information Science;2024

4. Analysis of kinematic characteristics of a mobile caterpillar robot with a SCARA-type manipulator;Transport technologies;2023-12-15