Substantiating the requirements to functional indicators for the manipulators of mobile robotic demining complexes

Authors

  • Vasil Strutynsky National Technical University of Ukraine «Igor Sikorsky Kyiv Polytechnic Institute» Peremohy ave., 37, Kyiv, Ukraine, 03056, Ukraine https://orcid.org/0000-0001-7167-0085
  • Volodymyr Kotsiuruba Institute of Operational Security and Logistics National Defence University of Ukraine named after Ivan Cherniakhovskyi Povitroflots’kyi ave., 28, Kyiv, Ukraine, 03049, Ukraine https://orcid.org/0000-0001-6565-9576
  • Anatoliy Dovhopoliy Central Scientific Research Institute of Armament and Military Equipment of Armed Forces of Ukraine Povitroflots’kyi ave., 28, Kyiv, Ukraine, 03049, Ukraine https://orcid.org/0000-0001-9227-9771
  • Oleh Husliakov Central Scientific Research Institute of Armament and Military Equipment of Armed Forces of Ukraine Povitroflots’kyi ave., 28, Kyiv, Ukraine, 03049, Ukraine https://orcid.org/0000-0002-3893-9465
  • Radu Budianu Central Scientific Research Institute of Armament and Military Equipment of Armed Forces of Ukraine Povitroflots’kyi ave., 28, Kyiv, Ukraine, 03049, Ukraine https://orcid.org/0000-0002-0267-4231
  • Oleksii Kolos Central Scientific Research Institute of Armament and Military Equipment of Armed Forces of Ukraine Povitroflots’kyi ave., 28, Kyiv, Ukraine, 03049, Ukraine https://orcid.org/0000-0002-3682-8470
  • Iryna Hrechka National Technical University «Kharkiv Polytechnic Institute» Kyrpychova str., 2, Kharkiv, Ukraine, 61002, Ukraine https://orcid.org/0000-0003-4907-9170

DOI:

https://doi.org/10.15587/1729-4061.2019.178466

Keywords:

mobile robotic complex, manipulator, anti-tank mine, explosive objects, remote disposal

Abstract

It has been proposed that humanitarian demining should involve mobile robotic complexes equipped with manipulators based on mechanisms with parallel kinematic structures. The features of design and characteristics of the manipulators have been considered. We have established special features in equipping the manipulators, used to directly manipulate objects. The geometrical and strength parameters for the threaded connection between a fuse and a mine shell have been determined. A scheme of efforts interaction in the threaded connection has been substantiated. We have found patterns in the emergence of the thread force reactions under a gravitational load of the fuse and at thread tightening. The efforts that arise at unscrewing the fuse of an anti-tank mine by the manipulator have been experimentally determined. The measurements employed specialized equipment in the form of a set of special grips. The result of measurements is the established effort of thread tightening and the momentum loads required for unscrewing the fuse. We have substantiated the rational kinematic and dynamic algorithms of the manipulator operation in the process of unscrewing the fuse. To this end, we measured the displacements of the fuse under the action of asymmetrical force and momentum loads. The measurements of parameters have been performed of cyclic loads necessary to unfix the threaded connection between the fuse and a mine. A special algorithm of dynamical loads on the fuse has been suggested, which ensures rational conditions for its unscrewing. The paper reports results from experimental study into remotely-controlled disposal of explosive objects and unexploded ammunition using an example of an anti-tank mine. We have shown feasibility of the proposed technology of humanitarian demining of territories containing explosive objects.

Author Biographies

Vasil Strutynsky, National Technical University of Ukraine «Igor Sikorsky Kyiv Polytechnic Institute» Peremohy ave., 37, Kyiv, Ukraine, 03056

Doctor of Technical Sciences, Professor

Department of Design Tools and Machines

Volodymyr Kotsiuruba, Institute of Operational Security and Logistics National Defence University of Ukraine named after Ivan Cherniakhovskyi Povitroflots’kyi ave., 28, Kyiv, Ukraine, 03049

Doctor of Technical Sciences, Professor

Department of Operative and Combat Support

Anatoliy Dovhopoliy, Central Scientific Research Institute of Armament and Military Equipment of Armed Forces of Ukraine Povitroflots’kyi ave., 28, Kyiv, Ukraine, 03049

Doctor of Technical Sciences, Professor, Chief Researcher

Oleh Husliakov, Central Scientific Research Institute of Armament and Military Equipment of Armed Forces of Ukraine Povitroflots’kyi ave., 28, Kyiv, Ukraine, 03049

PhD, Head of Research Laboratory

Research Laboratory

Radu Budianu, Central Scientific Research Institute of Armament and Military Equipment of Armed Forces of Ukraine Povitroflots’kyi ave., 28, Kyiv, Ukraine, 03049

PhD, Senior Researcher, Leading Research Fellow

Department of Development of General-Purpose Weapons and Military Equipment

Oleksii Kolos, Central Scientific Research Institute of Armament and Military Equipment of Armed Forces of Ukraine Povitroflots’kyi ave., 28, Kyiv, Ukraine, 03049

Deputy Head of the Research Department

Research Department for the Development of Engineering Weapons and Radiation, Chemical and Biological Protection of the Special Forces Weapons Development and Military Equipment Development

Iryna Hrechka, National Technical University «Kharkiv Polytechnic Institute» Kyrpychova str., 2, Kharkiv, Ukraine, 61002

PhD, Associate Professor

Department of Theory and Computer-Aided Design of Mechanisms and Machines

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Published

2019-09-17

How to Cite

Strutynsky, V., Kotsiuruba, V., Dovhopoliy, A., Husliakov, O., Budianu, R., Kolos, O., & Hrechka, I. (2019). Substantiating the requirements to functional indicators for the manipulators of mobile robotic demining complexes. Eastern-European Journal of Enterprise Technologies, 5(7 (101), 42–50. https://doi.org/10.15587/1729-4061.2019.178466

Issue

Vol. 5 No. 7 (101) (2019): Applied mechanics

Section

Applied mechanics

License

Copyright (c) 2019 Vasil Strutynsky, Volodymyr Kotsiuruba, Anatoliy Dovhopoliy, Oleh Husliakov, Radu Budianu, Oleksii Kolos, Iryna Hrechka

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