Variable Configuration Tracked Mobile Robot for Demining Operations

摘要

This paper introduces a link-type tracked mobile robot developed for demining operations. The robot consists of three parts: a front frame, a rear frame, and a body. The front frame is connected to the rear frame by a rotational passive adaptation mechanism, which is a driving mechanism of the robot. This passive adaptation mechanism enables the proposed robot good adaptability to uneven terrain including stairs. The link structure gives rise to a small, simple, and energy efficient vehicle. In addition, the new demining system adaptable to the proposed tracked mobile robot is discussed on how to clear small anti-personnel mines with a non-explosive method. Both the motion of the demining rake and the design parameters of the demining unit are analyzed. Finally, a presentation follows on how the new demining system can unearth small anti-personnel mines with a non-explosive method.