@article{ref1,
title="A dynamic motion analysis of a six-wheel ground vehicle for emergency intervention actions",
journal="Sensors (Basel)",
year="2021",
author="Grigore, Lucian Ștefăniță and Gorgoteanu, Damian and Molder, Cristian and Alexa, Octavian and Oncioiu, Ionica and Ștefan, Amado and Constantin, Daniel and Lupoae, Marin and Bălașa, Răzvan-Ionuț",
volume="21",
number="5",
pages="e1618-e1618",
abstract="To protect the personnel of the intervention units operating in high-risk areas, it is necessary to introduce (autonomous/semi-autonomous) robotic intervention systems. Previous studies have shown that robotic intervention systems should be as versatile as possible. Here, we focused on the idea of a robotic system composed of two vectors: a carrier vector and an operational vector. The proposed system particularly relates to the carrier vector. A simple analytical model was developed to enable the entire robotic assembly to be autonomous. To validate the analytical-numerical model regarding the kinematics and dynamics of the carrier vector, two of the following applications are presented: intervention for extinguishing a fire and performing measurements for monitoring gamma radiation in a public enclosure. The results show that the chosen carrier vector solution, i.e., the ground vehicle with six-wheel drive, satisfies the requirements related to the mobility of the robotic intervention system. In addition, the conclusions present the elements of the kinematics and dynamics of the robot.<p /> <p>Language: en</p>",
language="en",
issn="1424-8220",
doi="10.3390/s21051618",
url="http://dx.doi.org/10.3390/s21051618"
}