HIRAD: Teleoperated Tracked Mobile Robot with Novel Locomotion System For Uneven Terrains

In this paper, HIRAD - a novel Tracked Mobile robot for different harsh applications such as Rescue missions, Military applications, demining and etc, is proposed. The new system is developed based on the group experience in developing a tracked mobile robot named DESERT HUNTER - a Heavy-duty tracked robot for military applications which have a passive track system adaptation function. A Double Stabilizer Flipper mechanism mounted on front pulleys enables the Robot to have good performance in travelling over uneven terrains and climbing stairs. Using this Stabilizerflipper mechanism reduces energy consumption while climbing the stairs or crossing over obstacles. The locomotion system mechanical design is also described in detail. To analyze the system mobility, a virtual model was developed with ADAMS Software. The simulations enabled us to define motor torque requirements. We performed many experiments with manufactured prototype under various terrain conditions Such as stair climbing, gap crossing and slope elevation. In experiments, HIRAD shows good overcoming ability for the tested terrain conditions.

Keywords:

Tracked Mobile Robot , Teleoperation , Uneven Terrains , Stabilizer Flipper , Rescue-Military Application