Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot
Today, terrestrial robots are used in a multitude of fields and for performing multiple missions. This paper introduces the novel development of a family of crawling terrestrial robots capable of changing very quickly depending on the missions they have to perform. The principle of novelty is the us...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-04-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/9/3757 |
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| author | Lucian Ștefăniță Grigore Ionica Oncioiu Iustin Priescu Daniela Joița |
| author_facet | Lucian Ștefăniță Grigore Ionica Oncioiu Iustin Priescu Daniela Joița |
| author_sort | Lucian Ștefăniță Grigore |
| collection | DOAJ |
| description | Today, terrestrial robots are used in a multitude of fields and for performing multiple missions. This paper introduces the novel development of a family of crawling terrestrial robots capable of changing very quickly depending on the missions they have to perform. The principle of novelty is the use of a load-bearing platform consisting of two independent propulsion systems. The operational platform, which handles the actual mission, is attached (plug and play) between the two crawler propulsion systems. The source of inspiration is the fact that there are a multitude of intervention robots in emergency situations, each independent of the other. In addition to these costs, there are also problems with the specialization of a very large number of staff. The present study focused on the realization of a simplified, modular model of the kinematics and dynamics of the crawler robot, so that it can be easily integrated, by adding or removing the calculation modules, into the software used. The designed model was integrated on a company controller, which allowed us to compare the results obtained by simulation with those obtained experimentally. We appreciate that the analyzed Explosive Ordnance Disposal (EOD) robot solution represents a premise for the development of a family of EOD robots that use the same carrier platform and to which a multitude of operational platforms should be attached, depending on the missions to be performed. |
| first_indexed | 2024-03-10T12:06:36Z |
| format | Article |
| id | doaj.art-4d6be6800a5049b29470b77994e70498 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T12:06:36Z |
| publishDate | 2021-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-4d6be6800a5049b29470b77994e704982023-11-21T16:33:47ZengMDPI AGApplied Sciences2076-34172021-04-01119375710.3390/app11093757Development and Evaluation of the Traction Characteristics of a Crawler EOD RobotLucian Ștefăniță Grigore0Ionica Oncioiu1Iustin Priescu2Daniela Joița3Center of Excellence in Robotics and Autonomous Systems—CERAS, Military Technical Academy, “FERDINAND I”, 39–49 George Coșbuc Av., 050141 Bucharest, RomaniaAccountancy and Business Administration, Faculty of Finance-Banking, Titu Maiorescu University, 040051 Bucharest, RomaniaDepartment of Informatics, Faculty of Informatics, Titu Maiorescu University, 040051 Bucharest, RomaniaDepartment of Informatics, Faculty of Informatics, Titu Maiorescu University, 040051 Bucharest, RomaniaToday, terrestrial robots are used in a multitude of fields and for performing multiple missions. This paper introduces the novel development of a family of crawling terrestrial robots capable of changing very quickly depending on the missions they have to perform. The principle of novelty is the use of a load-bearing platform consisting of two independent propulsion systems. The operational platform, which handles the actual mission, is attached (plug and play) between the two crawler propulsion systems. The source of inspiration is the fact that there are a multitude of intervention robots in emergency situations, each independent of the other. In addition to these costs, there are also problems with the specialization of a very large number of staff. The present study focused on the realization of a simplified, modular model of the kinematics and dynamics of the crawler robot, so that it can be easily integrated, by adding or removing the calculation modules, into the software used. The designed model was integrated on a company controller, which allowed us to compare the results obtained by simulation with those obtained experimentally. We appreciate that the analyzed Explosive Ordnance Disposal (EOD) robot solution represents a premise for the development of a family of EOD robots that use the same carrier platform and to which a multitude of operational platforms should be attached, depending on the missions to be performed.https://www.mdpi.com/2076-3417/11/9/3757robotcrawlertractionkinematicsEOD Robotterrorist attacks |
| spellingShingle | Lucian Ștefăniță Grigore Ionica Oncioiu Iustin Priescu Daniela Joița Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot Applied Sciences robot crawler traction kinematics EOD Robot terrorist attacks |
| title | Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot |
| title_full | Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot |
| title_fullStr | Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot |
| title_full_unstemmed | Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot |
| title_short | Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot |
| title_sort | development and evaluation of the traction characteristics of a crawler eod robot |
| topic | robot crawler traction kinematics EOD Robot terrorist attacks |
| url | https://www.mdpi.com/2076-3417/11/9/3757 |
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