Simulation and Strength Analysis of Flippable Mobile Ground Robot for Volcano Exploration and Monitoring Application

Abstract

In this study, a mobile ground robot with a symmetrical design that can flip over was proposed considering the environment of Taal volcano in the Philippines. The integration of a drone and ground robot for volcano exploration would consider the transportation of the ground robot to the area of exploration. Releasing it to the ground, the ground robot will experience impact at a specific drop height. Through theoretical and Finite Element Analysis, an alternative design of a mobile ground robot was analyzed and simulated using impact loading. The impact, stress, displacement, and fatigue failure of the proposed design and its critical component were considered.It was found that the critical component of the proposed ground robot design is the motor support of carbon fiber plate material. Its high-stress concentration was mostly caused by a square-cornered notch that is present on the component. Moreover, the maximum displacement of 1.45 mm for the ground robot determined its ability to not easily deform due to impact load.Based on the fatigue and reliability analysis, 3-year usage of the ground robot resulted in less than 2% damage only on one of the ground robot components which is the ABS plastic parts. Furthermore, for 30-year usage, the ground robot has a maximum 14.3% damage on the ABS plastic parts, and only 1% damage on its other components.