PreprintArticleVersion 1Preserved in Portico This version is not peer-reviewed
Contributions on Highlighting an Energy Method Used for Constructive Optimization of the Mechanical Structure of a Mobile Robot Implemented in Humanitarian Demining Operations
Version 1
: Received: 28 February 2022 / Approved: 1 March 2022 / Online: 1 March 2022 (12:56:18 CET)
How to cite:
Petrişor, S.M.; Simion, M. Contributions on Highlighting an Energy Method Used for Constructive Optimization of the Mechanical Structure of a Mobile Robot Implemented in Humanitarian Demining Operations. Preprints2022, 2022030023. https://doi.org/10.20944/preprints202203.0023.v1
Petrişor, S.M.; Simion, M. Contributions on Highlighting an Energy Method Used for Constructive Optimization of the Mechanical Structure of a Mobile Robot Implemented in Humanitarian Demining Operations. Preprints 2022, 2022030023. https://doi.org/10.20944/preprints202203.0023.v1
Petrişor, S.M.; Simion, M. Contributions on Highlighting an Energy Method Used for Constructive Optimization of the Mechanical Structure of a Mobile Robot Implemented in Humanitarian Demining Operations. Preprints2022, 2022030023. https://doi.org/10.20944/preprints202203.0023.v1
APA Style
Petrişor, S.M., & Simion, M. (2022). Contributions on Highlighting an Energy Method Used for Constructive Optimization of the Mechanical Structure of a Mobile Robot Implemented in Humanitarian Demining Operations. Preprints. https://doi.org/10.20944/preprints202203.0023.v1
Chicago/Turabian Style
Petrişor, S.M. and Mihaela Simion. 2022 "Contributions on Highlighting an Energy Method Used for Constructive Optimization of the Mechanical Structure of a Mobile Robot Implemented in Humanitarian Demining Operations" Preprints. https://doi.org/10.20944/preprints202203.0023.v1
Abstract
Modularity in the construction of industrial robots is becoming increasingly popular, as the modules can be assembled in different ways so as to obtain various architectures of industrial robots determined by the requirements of specific applications. Such a robot with modular structure is considered in this paper. The tracked mobile robot, with translation – rotation – translation – translation – rotation (TRTTR) modular serial structure, is the subject of national invention patent number RO132301 B1/2021, granted by the State Office for Inventions and Trademarks of Bucharest, to “Nicolae Bălcescu” Land Forces Academy of Sibiu, Romania [1]. The tracked mobile robot has been designed to perform the task of humanitarian demining operations and the mechanical structure, respectively the kinematic analysis were described in detail in papers [1,2]. A first general objective of this paper is to highlight a dynamic-organological method to achieve an architectural structure of mobile robot on tracks, able to replace the human element in areas with high risk for health and life, for detection and demining anti-personnel and anti-armor minefields in countries where military conflicts have taken place. For this scope it was performed the dynamic modeling using the Lagrange’s formalism and to achieve the constructive optimization of the TRTTR mechanical structure, in order to obtain a minimum energy consumption through an optimal arrangement of the modules in its structure. A second objective is to improve the action flexibility of the technological product in humanitarian detection and demining operations, as well as for educational purposes, by training highly educated and specialized human resources in the field of advanced military technologies. The differential equations of motion of the robot has obtained and respectively the mechanical design equations, which lead to the optimal choice of the drive motors of the modules in the robot structure. Also, it is presented the mathematical model for obtaining the driving motor of base translation modulus (MTB SIL) of the modular serial tracked robot and the constructive solution of the MTB SIL module.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
