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Grigore LȘ, Gorgoteanu D, Molder C, Alexa O, Oncioiu I, Ștefan A, Constantin D, Lupoae M, Bălașa RI. A Dynamic Motion Analysis of a Six-Wheel Ground Vehicle for Emergency Intervention Actions. SENSORS 2021; 21:s21051618. [PMID: 33669001 PMCID: PMC7956183 DOI: 10.3390/s21051618] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/03/2021] [Revised: 02/03/2021] [Accepted: 02/21/2021] [Indexed: 11/16/2022]
Abstract
To protect the personnel of the intervention units operating in high-risk areas, it is necessary to introduce (autonomous/semi-autonomous) robotic intervention systems. Previous studies have shown that robotic intervention systems should be as versatile as possible. Here, we focused on the idea of a robotic system composed of two vectors: a carrier vector and an operational vector. The proposed system particularly relates to the carrier vector. A simple analytical model was developed to enable the entire robotic assembly to be autonomous. To validate the analytical-numerical model regarding the kinematics and dynamics of the carrier vector, two of the following applications are presented: intervention for extinguishing a fire and performing measurements for monitoring gamma radiation in a public enclosure. The results show that the chosen carrier vector solution, i.e., the ground vehicle with six-wheel drive, satisfies the requirements related to the mobility of the robotic intervention system. In addition, the conclusions present the elements of the kinematics and dynamics of the robot.
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Affiliation(s)
- Lucian Ștefăniță Grigore
- Military Technical Academy, “FERDINAND I”, 39–49 George Coșbuc Av., 050141 Bucharest, Romania; (L.Ș.G.); (D.G.); (C.M.); (O.A.); (A.Ș.); (D.C.); (M.L.); (R.-I.B.)
| | - Damian Gorgoteanu
- Military Technical Academy, “FERDINAND I”, 39–49 George Coșbuc Av., 050141 Bucharest, Romania; (L.Ș.G.); (D.G.); (C.M.); (O.A.); (A.Ș.); (D.C.); (M.L.); (R.-I.B.)
| | - Cristian Molder
- Military Technical Academy, “FERDINAND I”, 39–49 George Coșbuc Av., 050141 Bucharest, Romania; (L.Ș.G.); (D.G.); (C.M.); (O.A.); (A.Ș.); (D.C.); (M.L.); (R.-I.B.)
| | - Octavian Alexa
- Military Technical Academy, “FERDINAND I”, 39–49 George Coșbuc Av., 050141 Bucharest, Romania; (L.Ș.G.); (D.G.); (C.M.); (O.A.); (A.Ș.); (D.C.); (M.L.); (R.-I.B.)
| | - Ionica Oncioiu
- Faculty of Finance-Banking, Accountancy and Business Administration, Titu Maiorescu University, 040051 Bucharest, Romania
- Correspondence: ; Tel.: +40-372-710-962
| | - Amado Ștefan
- Military Technical Academy, “FERDINAND I”, 39–49 George Coșbuc Av., 050141 Bucharest, Romania; (L.Ș.G.); (D.G.); (C.M.); (O.A.); (A.Ș.); (D.C.); (M.L.); (R.-I.B.)
| | - Daniel Constantin
- Military Technical Academy, “FERDINAND I”, 39–49 George Coșbuc Av., 050141 Bucharest, Romania; (L.Ș.G.); (D.G.); (C.M.); (O.A.); (A.Ș.); (D.C.); (M.L.); (R.-I.B.)
| | - Marin Lupoae
- Military Technical Academy, “FERDINAND I”, 39–49 George Coșbuc Av., 050141 Bucharest, Romania; (L.Ș.G.); (D.G.); (C.M.); (O.A.); (A.Ș.); (D.C.); (M.L.); (R.-I.B.)
| | - Răzvan-Ionuț Bălașa
- Military Technical Academy, “FERDINAND I”, 39–49 George Coșbuc Av., 050141 Bucharest, Romania; (L.Ș.G.); (D.G.); (C.M.); (O.A.); (A.Ș.); (D.C.); (M.L.); (R.-I.B.)
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