REMOVAL SYSTEM FOR UNMANNED GROUND VEHICLES USING A MODULAR ROBOTIC ARM

被引：1

作者：

Nowakowski, Marek ^{[1
]}

Janos, Rudolf ^{[2
]}

Semjon, Jan ^{[2
]}

Varga, Jozef ^{[3
]}

机构：

[1] Mil Inst Armoured & Automot Technol, Okuniewska 1, PL-05070 Sulejowek, Poland

[2] Tech Univ Kosice, Fac Mech Engn, Dept Prod Syst & Robot, Kosice, Slovakia

[3] Tech Univ Kosice, Fac Mech Engn, Prototyping & Innovat Ctr, Kosice, Slovakia

来源：

MM SCIENCE JOURNAL | 2024年 / 2024卷

关键词：

Modular robotic arm; Unmanned Ground Vehicles; obstacle; removal system; unstructured environment; special mission;

D O I：

10.17973/MMSJ.2024_11_2024057

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A removal system for Unmanned Ground Vehicles (UGVs) equipped with a modular robotic arm designed for hazardous and unstructured environments is presented. The system is based on commercially available solution that enables the manipulation of objects and removal of obstacles in complex terrains, such as disaster zones, battlefields, and industrial sites. The operational environment, teleoperation capabilities, and associated challenges are thoroughly addressed. Recent developments in All Terrain Vehicle-based unmanned platforms are discussed, demonstrating their suitability for rapid and versatile implementation in special-purpose missions. A model of an unmanned platform with an integrated robotic arm is proposed to enhance the existing range of medium-sized UGVs. The system configuration tailored for special-purpose missions is outlined, and kinematic parameters, along with stress tests, are provided to confirm its high adaptability to a diverse range of operational scenarios.

引用

页码：7795 / 7799

页数：5

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