THE PROCEDURE FOR CALCULATING THE DRIVE OF THE WORKING BODY OF A ROBOTIC DEVICE FOR HUMANITARIAN DEMINING
Keywords:
Robotics, robotic equipment, striker trawl, resistance to soil destruction, drive power, torque
Abstract
The aim of the study is to develop a methodology that allows us to calculate the main parameters
characterizing the ability of a robotic vehicle equipped with a striker minesweeper to perform humanitarian
demining operations. For this purpose, within the framework of this work, tasks were solved such as
calculating the torque on the shaft of the striker trawl, determining the power of the motor driving the
striker trawl, and calculating the power of the power plant of a robotic vehicle. During the research, the
experience of creating and the main parameters of foreign mine clearance equipment with firing minesweepers
were analyzed – the Hydrema 910 MCV crew mine clearance vehicle, the MV-4 robotic mine
clearance vehicle, the Uran-6 remote-controlled mine clearance vehicle, and the MT-2 remote-controlled
mine trawl. The main features of the working body of the considered machines, namely the firing minesweeper,
were also analyzed. The developed methodology is based on a method for calculating the resistance
force of soil destruction and an explosive object when exposed to a bike, based on the theory of
interaction of working bodies of earthmoving machines, developed by academician N.G. Dombrovsky.
Also, during the development of this technique, the results of work on the calculation of the design of the
striker trawl were used by Croatian specialists Vinkovic N., Stojkovic V. and Mikulic D. At the same time,
calculations were carried out for various soils, which, depending on the resistivity of cutting, are divided
into 4 categories: sandy clay, gravel; dense clay, coal; hard clay with gravel; medium slate, chalk, soft
gypsum stone. The obtained data actually became an array of initial information, which, together with
known physical dependencies, allowed us to form an array of calculation formulas that allow us to calculate
the torque on the shaft of the striker trawl, the power of the motor driving the striker trawl, as well as
the power of the power plant of the robotic means, and thereby solve the scientific problem posed at the
beginning of the study.
References
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15. Вeloglazov D., Pereverzev V., Soloviev V., Pshikhopov V., Morozov R. Method of Formation of Quantitative
Indicators of Complexity of the Environment by a Group of Autonomous Mobile Robots,
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imprudently enhancing the robots' capabilities, IEEE Xplore Conference: Autonomous Robots and
Agents, 2009. DOI: 10.1109/ICARA.2000.4804014.
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min v gumanitarnykh tselyakh [A device for demining territories by forcibly detonating mines for humanitarian
purposes], Vestnik Akademii nauk Chechenskoy Respubliki [Bulletin of the Academy of
Sciences of the Chechen Republic], 2012, No. 1 (16), pp. 65-75.
22. Naumov V.N., Mashkov K.YU., Noskov S.S., Borisov A.V., Vas'kov V.A. Vybor i otsenka sistemy
energoobespecheniya mobil'nykh robotov: ucheb. posobie [Selection and evaluation of the energy
supply system for mobile robots: a textbook]. Novogorsk: AGZ MCHS Rossii, 2003, 52 p.
23. Noskov S.S., Gudoshnikov A.A., Rybina A.V. Raschet kombinirovannogo istochnika elektricheskoy
energii mobil'nogo robototekhnicheskogo sredstva spetsial'nogo naznacheniya [Calculation of a combined
electric power source of a mobile robotic device for special purposes], Primenenie
robototekhnicheskikh kompleksov spetsial'nogo naznacheniya: Sb. trudov ХХXIII Mezhdunarodnoy
nauchno-prakticheskoy konferentsii [Application of robotic complexes for special purposes. Proceedings
of the XXXIII International Scientific and Practical Conference]. Khimki, 2023, pp. 49-55.
24. Vinkovic N., Stojkovic V., Mikulic D. Design of Flail for Soil Treatment, 5th DAAAM International
Conference on Advanced Technologies for Developing Countries. University of Rijeka, Rijeka, 2006.
25. Dombrovskiy N.G. i dr. Stroitel'nye mashiny: uchebnik dlya vu ov po spets. «Stroit. i dor. mashiny i
oborudovanie» [Construction machines: textbook for universities on the specialty "Builds furniture
and road machinery and equipment"]: In 2 part. Part 1. Moscow: Mashinostroenie, 1985, 391 p.
26. Dombrovskiy N.G. i dr. Stroitel'nye mashiny: uchebnik dlya vu ov po spets. «Stroit. i dor. mashiny i
oborudovanie» [Construction machines: textbook for universities specializing in "Construction and
road machinery and equipment"]: In 2 part. Part 2. Moscow: Vysshaya shkola, 1985, 224 p.
27. YASA P400 R Series. Available at: https://www.yasa.com/products/ yasa-p400/ (accessed 18 November
2023).
28. Green W.E. The case for the flail: Mechanical Landmine Clearance for the Humanitarian Application
A Manufacturer's View, Engineering, Political Science Journal of Conventional Weapons Destruction,
1999.
kompleksov v FGKU TSSOOR «Lider» [Experience with the use of ground robotic systems in FGKU
ZCOOR the "LEADER"], Primenenie robototekhnicheskikh kompleksov spetsial'nogo naznacheniya:
Sb. trudov KHKHVIII Mezhdunarodnoy nauchno-prakticheskoy konferentsii [The use of specialpurpose
robotic systems. Proceedings of the XXVIII International Scientific and Practical Conference],
2018, pp. 20-24.
2. Polevoy E.V., Naydenov D.S., Gudoshnikov A.A., Lopatin D.S. Analiz sovremennogo sostoyaniya
gruppirovki robototekhnicheskikh kompleksov MCHS Rossii [Analysis of the current state of the
group of robotic complexes of the Emercom of Russia], Nauchnye i obrazovatel'nye problemy
grazhdanskoy zashchity [Scientific and educational problems of civil protection], 2021, No. 4 (51),
pp. 43-53.
3. Spitsin D.V., Lagutina A.V. Perspektivy primeneniya robototekhnicheskikh kompleksov pri provedenii
rabot, svyazannykh s poiskom i obezvrezhivaniem vzryvoopasnykh predmetov [Prospects for
the use of robotic complexes in carrying out work related to the search and neutralization of explosive
objects], III Nauchno-prakticheskaya konferentsiya po razvitiyu robototekhniki v oblasti
obespecheniya bezopasnosti zhiznedeyatel'nosti "RoboEmercom": Sb. materialov konferentsii [III Scientific
and practical Conference on the development of robotics in the field of life safety
"RoboEmercom": Collection of conference materials]. Moscow, 2023, pp. 195-198.
4. Habib M., Baudoin Y. Mechanical mine clearance: Development, applicability and difficulties. Published,
2011. Engineering, Environmental Science.
5. Habib M. Humanitarian demining: Difficulties, needs and the prospect of technology, Published in
IEEE International Conference. 1 August 2008. Engineering, Environmental Science.
6. Vasil'ev V.L. Gumanitarnoe razminirovanie osnovnye problemy i uroki [Humanitarian demining main
problems and lessons], Gumanitarnye operatsii pri chrezvychaynykh situatsiyakh i v vooruzhennykh
konfliktakh: Sed'maya vserossiyskaya nauchno-prakticheskaya konferentsiya: Doklady i vystupleniya.
Tsentr strategicheskikh issledovaniy grazhdanskoy zashchity MChS Rossii [Humanitarian operations in
emergency situations and in armed conflicts. The seventh All-Russian Scientific and Practical conference:
Reports and speeches. The Center for Strategic Studies of Civil Protection of the Ministry of
Emergency Situations of Russia], 2002, pp. 129-141.
7. Moshkov V.B., Barannik A.Yu. Perspektivy razvitiya sistemy robototekhniki MChS Rossii v interesakh
povysheniya effektivnosti vedeniya avariyno-spasatel'nykh rabot [Prospects for the development of the
robotics system of the Ministry of Emergency Situations of Russia in the interests of improving the efficiency
of emergency rescue operations], Tekhnologii grazhdanskoy bezopasnosti. Spetsvypusk
[Technologies of civil safety. Special issue], 2021, pp. 124-126.
8. Alekhin M.V., Petrosyan A.E., Shakhovtsev K.V. Mobil'nye platformy dlya razminirovaniya [Mobile platforms
for mine clearance], Aktual'nye voprosy i osnovy mezhdunarodnogo sotrudnichestva v sfere
vysokikh tekhnologiy: Sb. statey po itogam Mezhdunarodnoy nauchno-prakticheskoy konferentsii [Current
issues and fundamentals of international cooperation in the field of high technologies: Collection of
articles on the results of the International Scientific and Practical Conference – 2017], 2017, pp. 4-5.
9. Nazarova M.S., Zakharov A.E. Robototekhnicheskie sredstva razminirovaniya i rassnaryazheniya
vzryvnykh ustroystv [Robotic means of mine clearance and discharge of explosive devices],
Obrazovanie. Kul'tura. Obshchestvo: Sb. statey LXXI Mezhdunarodnoy nauchnoy konferentsii [Education.
Culture. Society. Collection of articles of the LXXI International Scientific Conference]. Saint
Petersburg, 2023, pp. 60-64.
10. Belov A.A., Men'k A.R., Pokryshkin A.B. Razvitie otechestvennykh minnykh tralov. Sovremennye
sredstva razminirovaniya [Development of domestic minesweepers. modern means of mine clearance],
Nauka YuUrGU: Mater. 71-y nauchnoy konferentsii. Yuzhno-Ural'skiy gosudarstvennyy universitet
[SUSU Science. materials of the 71st scientific conference. South Ural State University], 2019,
pp. 546-555.
11. Trar Theimer. Summary Report 910 Mechanical Clearance Device James Madison University.
12. YOUR SOLUTION FOR DEMINING & COUNTER-IED docs.tuyap.online›FDOCS/23577.pdf.
13. Jane's Military Vehicles and Logistics 2007-2008. 28th ed., Coulsdon, Surrey, UK.
14. Essers M.S., Vaneker T.N.J. Developing Concepts for Improved Efficiency of Robot Work Preparation,
Procedings CIRP, 2013, Vol. 7, pp. 515-520. DOI.org/10.1016/j.procir.2013.06.025.
15. Вeloglazov D., Pereverzev V., Soloviev V., Pshikhopov V., Morozov R. Method of Formation of Quantitative
Indicators of Complexity of the Environment by a Group of Autonomous Mobile Robots,
Journal of Robotics, 2020, No. 3, pp. 1-14. DOI: 10.1155/2020/6874291.
16. Altshuler Н., Wagner I.V., Bruckstein F.M. With caution-decreasing a swarm robotics' efficiency by
imprudently enhancing the robots' capabilities, IEEE Xplore Conference: Autonomous Robots and
Agents, 2009. DOI: 10.1109/ICARA.2000.4804014.
17. Elshamy W. Adaptive Control in Swarm Robotics Computer Science, 2021. Available at: https://www.
semanticscholar.org/paper/Adaptive-Control-in-Swarm-Robotics-
Elshamy/b112317012d4380a0311276936ddefd7c8cddd16.
18. Tomokie Burton, Kushwaha R. Development of a Mechanical Device for Landmine Neutralization.
Published, 2006. Engineering, Environmental Science.
19. Griffiths Alexander, Kaminsky Leonard. Mechanical Application in Demining: Modernising Clearance
Methods. Published, 2003. Engineering Journal of Conventional Weapons Destruction.
20. Rubinstein D., Wolf D. De-mining device based on chain impact. Published, 1999. Engineering Transactions
of the ASABE.
21. Kalinichenko V.P., Zarmaev A.A. Ustroystvo dlya razminirovaniya territoriy prinuditel'nym podryvom
min v gumanitarnykh tselyakh [A device for demining territories by forcibly detonating mines for humanitarian
purposes], Vestnik Akademii nauk Chechenskoy Respubliki [Bulletin of the Academy of
Sciences of the Chechen Republic], 2012, No. 1 (16), pp. 65-75.
22. Naumov V.N., Mashkov K.YU., Noskov S.S., Borisov A.V., Vas'kov V.A. Vybor i otsenka sistemy
energoobespecheniya mobil'nykh robotov: ucheb. posobie [Selection and evaluation of the energy
supply system for mobile robots: a textbook]. Novogorsk: AGZ MCHS Rossii, 2003, 52 p.
23. Noskov S.S., Gudoshnikov A.A., Rybina A.V. Raschet kombinirovannogo istochnika elektricheskoy
energii mobil'nogo robototekhnicheskogo sredstva spetsial'nogo naznacheniya [Calculation of a combined
electric power source of a mobile robotic device for special purposes], Primenenie
robototekhnicheskikh kompleksov spetsial'nogo naznacheniya: Sb. trudov ХХXIII Mezhdunarodnoy
nauchno-prakticheskoy konferentsii [Application of robotic complexes for special purposes. Proceedings
of the XXXIII International Scientific and Practical Conference]. Khimki, 2023, pp. 49-55.
24. Vinkovic N., Stojkovic V., Mikulic D. Design of Flail for Soil Treatment, 5th DAAAM International
Conference on Advanced Technologies for Developing Countries. University of Rijeka, Rijeka, 2006.
25. Dombrovskiy N.G. i dr. Stroitel'nye mashiny: uchebnik dlya vu ov po spets. «Stroit. i dor. mashiny i
oborudovanie» [Construction machines: textbook for universities on the specialty "Builds furniture
and road machinery and equipment"]: In 2 part. Part 1. Moscow: Mashinostroenie, 1985, 391 p.
26. Dombrovskiy N.G. i dr. Stroitel'nye mashiny: uchebnik dlya vu ov po spets. «Stroit. i dor. mashiny i
oborudovanie» [Construction machines: textbook for universities specializing in "Construction and
road machinery and equipment"]: In 2 part. Part 2. Moscow: Vysshaya shkola, 1985, 224 p.
27. YASA P400 R Series. Available at: https://www.yasa.com/products/ yasa-p400/ (accessed 18 November
2023).
28. Green W.E. The case for the flail: Mechanical Landmine Clearance for the Humanitarian Application
A Manufacturer's View, Engineering, Political Science Journal of Conventional Weapons Destruction,
1999.
Published
2024-08-12
Issue
Section
SECTION I. COMPUTING AND INFORMATION MANAGEMENT SYSTEMS
