Tomasz Muszyński

Simulation identification of Fire Rescue Robot suspension loads

This paper describes FRR wheeled rescue robot which being developed in Robots & Engineering Equipment Team of Military University of Technology. There have been presented also short description of planned to performing by Fire Rescue Robot FRR tasks and caused by them problems to solve. Next have been described the method and model enable to carry out simulation which are necessary to robot suspension system loads identification. Describing developed simulation model, have been presented main used simplification assumptions and method used to calculate main model parameters. The nest paper sections describe the tests which has been subjected to model and examples of their results. In the final part of the paper is a conclusion and discussion of the results of research.

The Innovative Design of Suspension Cast Components of Vehicles Made from High-Strength AlZnMgCu Alloy Resistant to an IED Type Threat

The new research trends are moving away from research works that are not directly connected with industrial applications. The Integrated Computational Materials Engineering (ICME) is an excellent example of the relationship between scientific research and the industrial sector.As an example of the design development of construction of a suspension component, an overview of the changes of a welded part replaced with cast component is presented. The identification of boundary conditions and forces operating on the nodes of the suspension element allowed determining the critical areas in the existing welded construction. Then the new design of casting for high performance applications was developed. Analysis of the kinematics of the suspension components also revealed the need for changes in the design of the mounting points of the suspension components to reduce the maximum values of forces and enforced moments. As a result of successive stages of the topology optimization of analysed cast, control arms with significantly lower values of maximum stresses were obtained. The material conversion of welded part with high strength AlZnMgCu aluminium alloy allowed the reduction of the weight by 25% for the lower control arm and 30% for upper control arm.

Stiffness Evaluation of Fire Rescue Robot Suspension with Hydropneumatic Components

The paper describes the wheeled rescue robot FRR drawn up by a team of Engineering Machines and Robots at Military University of Technology. It also shows a brief description of predicted for implementation tasks by FRR and probable problems that might occur and should be solved. Next the paper describes the method and the model which served to simulation evaluation of rigidity for robots suspension system. Describing the simulation model, used simplified assumptions and the method of calculating the basic parameters for model were described. The following chapter presents simulation that the model was tested through and some model results of the test. In the final phase of the article the conclusion and discussion is presented.

Preliminary Simulations of High Mobility IED Resistance Suspension with Casting Arms

Currently led military operations (Iraq and Afganistan) have shown that one of the biggest threats for vehicles moving in convoys are Improvised Explosive Devices. On the basis of experiments, it was found that there are not such structures which are completely resistant to explosion. The paper describes the concept for arms of suspension system with specially reduced construction node which undergo a controlled destruction at the time of detonation. Designing the target elements requires tests in order to determine the service load for suspension system..

Hydropneumatic Suspension Efficiency in Terms of Teleoperated UGV Research

More often Unmanned Ground Vehicles (UGV) support or replace human in dangerous tasks performing. Usually this operations are realizing in hard conditions in rough terrain. UGVs effectively use determines its ability to obstacle negotiating, to reach high adhesion force, drawbar pull and extra longitudinal and lateral stability of UGV. Variety missions determining of use in UGVs reconfigurable and control suspension system. It is able to meet this requirement thanks to use hydropneumatic components in them suspension system. However currently it is very hard to developed characteristic of such a suspension systems. In literature there is no clear guidelines for suspension systems of teleoperated UGVs. This paper presents results of hydropneumatic suspension system research on heavy UGV.

Track interaction study of the ground in terms of the use of electric driving systems in the robot

This paper presents the results of field test and theoretical analysis driving resistance articulated 4×4 tracked robot test-bed. Tests were made on four different grounds. Designated elastomeric tracks resistance coefficients are much higher than for steel tracks. This information was important for the proper estimation of energy consumption in the process of driving. On the basis of obtained results it is possible to determine the electrical driving systems of robots.

Loads analysis of skid steer robot drive system

This paper presents the results of 3 tons skid steer 6×6 wheel robot drive system field tests. The aim of the investigation was verification of assumed data for drive train design and forces identification in the drivetrain system during maneuvering and crossing obstacles. Robot has hydraulics drive system with motors in the wheels and hydraulic suspension system. The needed drive torque on wheels was determined by pressure measuring on motors.

Experimental Research on Directional Stability of Articulated Tractors

Articulated tractors are wide available on the construction equipment market and have a lot of unique advantages not accessible in case of Ackerman steering system or truck-mounted tools. The only unsolved problem is their poor directional stability which significantly limits the speed of operation and work efficiency. This paper investigates the phenomenon of directional stability loss and indicates main reasons for its appearance by means of experimental research. Moreover, conducted tests, acquired results and their analysis could be a basis for future works on stabilizing system supporting the driver of an articulated tractor or enabling operation in remote control mode.

The Possibility of Directional Stability Improvement of Articulated Tool-Carriers

Our research shown that there are two main reasons of poor directional stability of articulated tractors- toolcarriers: a small frame articulation which always occur due to different reason and limited perception of driver which has insensitivity zones of lateral and angular location. On this basis the principle for stabilization of steering system was worked out. In this paper the model of articulated tractor, assumption and result of simulating research such system are presented.

Research of the Snaking Phenomenon to Improve Directional Stability of Remote Controlled Articulated Wheel Tool-Carrier

Articulated wheel tool-carriers manufactured up to 20-25 tons of total weights are wide available on the construction equipment market and have a lot of unique advantages not accessible on Ackerman steering or truck-mounted equipment such as : for weight up to 20 t high cross-country mobility – comparable to heavy military tracked vehicles due to size of wheels; excellent manoeuvrability and keeping attachment straight ahead during turning; high lift capacity due to heavy axis construction; high puling force; wide range of tools and attachments due to quick-coupling device; high productivity; high reliability and durability. Moreover their steering systems and transmission are easy to automation due to hydraulic control systems. For those reasons they could be useful and cost effective on hazardous areas and robotised construction sites. There is one unsolved problem, which limits the speed of operation and efficiency of using – they have poor directional stability. During straight movement the articulated tractor deviates from straight line and permanent driver correction is required. The path has oscillation shape so it is called snaking phenomenon. So in the case of remote control the speed is limited to 5-6 km/h. The higher road speed above 30 km/h of driver controlled tractor need an operator aid system that would improve directional stability of articulated tractor too. Designing such system demand perfect knowledge of snaking phenomenon arise reasons. This paper describes tests and trials conducted on 20 tons articulated wheel loader to get answer how the snaking phenomenon is arisen. Used methods, achieved original results and their analysis are presented. It could be basis for future works on articulated tractor directional stabilisation system.