Multifunction suspension of EOD robot

• Autorzy: Łopatka M. J. , Muszyński T. , Rubiec A.
• Języki publikacji: EN

Abstrakty

EN

One of the applications of Unmanned Ground Vehicles (UGV) consists in conducting tasks connected to removing and disposing of Improvised Explosive Devices (IED). The tasks are often performed in hard to reach places, on off-road terrain, with weights and dimensions of explosives which require the use of work attachments of considerable lifting capacities. Due to this, it is necessary to equip the robot with suspension designed for performing such tasks. Because of variable character of the charges which are subjected to the chassis of robots, it is necessary to build a suspension with variable characteristics and examine efficiency of its action. One of the research methods that can be used for that purpose are the simulations based on the method of Multibody Systems. The paper presents a hydro-pneumatic suspension system of an EOD robot, which has been developed at the Military University of Technology, describes its model, simulation findings and the initial verification thereof based on a real object. Apart from that, special consideration is given to the quality and effectiveness of UGV suspension systems. The development of a basic platform enables the use of the platform for various purposes as a carrier of a multi-sensor system for detecting dangerous materials or for carrying other attachments.

Słowa kluczowe

EN

unmanned ground vehicle; mobility; hydropneumatic suspension; simulations

• Wydawca: Łukasiewicz Research Network - Institute of Aviation ; European Science Society of Powertrain and Transport KONES Poland ; Wydawnictwo Instytutu Technicznego Wojsk Lotniczych
• Czasopismo: Journal of KONES
• Rocznik: 2011
• Tom: Vol. 18, No. 1
• Strony: 343--350
• Opis fizyczny: Bibliogr. 10 poz., rys.

Twórcy

autor

Łopatka M. J.

autor

Muszyński T.

autor

Rubiec A.

• Military University of Technology, Faculty of Mechanical Engineering Department of Construction Machinery Gen. S. Kaliskiego Street 2, 00-908 Warsaw, Poland tel.[phone], fax: [phone],

Bibliografia

• [1] Borkowski, W., Rybak, P., Michałowski, B., Influence of tracked vehicle suspension type on dynamic loads of crew and inside equipment, Journal of KONES Powertrain and Transport, Vol.13, No.4 2006.
• [2] General Dynamics Land Systems. "High Mobility Robotic Platform Study: Final Report. " Prepared for US Army TARDEC, Warren, MI. August 1999.
• [3] Khalil G., Hitchcock J ., Ground Vehicle Mobility Requirements; RTO AVT Symposium ,Lisbon 1998.
• [4] Knorn, F., Modelling and control of an active hydro-pneumatic suspension, Praktikumsbericht, Otto von Guericke Universität Magdeburg, Magdeburg 2006.
• [5] Łopatka, M. J., Muszyński, T., Rubiec, A., Multifunkcjonalne zawieszenie robota wsparcia inżynieryjnego, Konferencja Problemy Rozwoju Maszyn Roboczych, Zakopane 2011.
• [6] Naude, A. F., Snymon, J. A., Optimisation of road vehicle passive suspension system. Part 1. Optimisation algorithm and vehicle model., applied Mathematical Modelling, no 27 2003.
• [7] Norma ISO 5008 Agricultural wh eeled tractors and field m achinery - Measurem ent of whole-body vibration of the operator.
• [8] Reimpell, J., Betzler, J., Podwozia samochodów. Podstawy konstrukcji, WKiŁ, Warszawa 2001.
• [9] Siwulski, T., Modelowanie stateczności dynamicznej pojazdów przemysłowych z podatnymi elementami jezdnymi, Rozprawa doktorska, Politechnika Wrocławska, Wrocław 2004.
• [10] Uys, P. E., Els, P. S., Thoresson, M., Suspension settings for optimal ride comfort of off-road vehicles travelling on roads with different roughness and speeds, Journal of Terramechanics, vol.44, Issue 2 April 2007.