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

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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.

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