In the field of rescue operations, traditional methods often face limitations due to complex terrains and hazardous environments, hindering the timely delivery of aid and personnel. To address this, we have developed an innovative dual-swing-arm tracked amphibious rescue robot that leverages advanced robot technology to enhance efficiency in diverse scenarios such as mountainous forests, collapsed buildings, and aquatic incidents. This robot integrates a dual-swing-arm tracked locomotion system, airbag and propeller-based water navigation, and firefighting capabilities, enabling seamless transition between land and water. The application of robot technology in this design focuses on improving mobility, stability, and adaptability, ensuring reliable performance in challenging conditions. In this article, we present a comprehensive overview of the robot’s structural design, supported by analytical evaluations using formulas and tables to validate its feasibility. By incorporating robot technology into rescue operations, we aim to push the boundaries of autonomous systems in disaster response.
The core of our robot technology lies in its modular design, which allows for efficient operation across various environments. The robot features a sealed welded chassis made from lightweight aluminum alloy, ensuring buoyancy and durability during amphibious use. Key components include the dual-swing-arm tracked system for land mobility, airbags and propellers for water traversal, and a fire suppression mechanism for emergency fire control. These elements are integrated through a centralized control system, highlighting the role of robot technology in enabling multi-functional capabilities. For instance, the tracked system employs independent swing arms that adjust to terrain variations, while the water propulsion system utilizes high-thrust propellers driven by brushless motors. This synergy of components exemplifies how robot technology can be harnessed to create versatile rescue tools. In the following sections, we delve into the detailed design and analysis, emphasizing the mathematical foundations and performance metrics that underscore the robot’s reliability.
To quantify the robot’s capabilities, we begin with the overall design parameters. The robot measures 1,300 mm in length, 950 mm in width, and 800 mm in height when the swing arms are retracted, extending to 1,800 mm with arms fully deployed. It weighs 300 kg unloaded and 350 kg when fully equipped, ensuring a balance between portability and functionality. The drive system utilizes NMRV40 reduction motors, each providing a torque of 19 N·m and a transmission ratio of 30, which are critical for generating sufficient traction in rough terrains. The integration of these parameters into the robot technology framework allows for optimal performance in rescue missions. Below, Table 1 summarizes the key technical specifications, illustrating how robot technology influences the design choices to achieve high adaptability and efficiency.
| Parameter | Value |
|---|---|
| Dimensions (Retracted) | 1,300 mm × 950 mm × 800 mm (L × W × H) |
| Dimensions (Extended) | 1,800 mm length |
| Weight (Unloaded) | 300 kg |
| Weight (Loaded) | 350 kg |
| Motor Model | NMRV40 Reduction Motor |
| Motor Torque | 19 N·m |
| Transmission Ratio | 30 |
The dual-swing-arm tracked locomotion system is a pivotal aspect of our robot technology, designed to provide superior obstacle-crossing ability and stability. This system consists of main tracks, front and rear swing arms, drive shafts, load-bearing wheels, and worm gear reduction motors. The tracks are made of rubber to enhance grip and traction, with a high friction coefficient that minimizes slippage on uneven surfaces. Each swing arm is independently controlled by a dedicated motor, allowing for dynamic adjustments to terrain contours. This flexibility is a hallmark of advanced robot technology, as it enables the robot to distribute weight evenly and maintain contact with the ground, even on slopes or debris. The drive mechanism involves two primary motors that power the main tracks via gear engagement, while additional motors control the swing arms through shaft transmissions. With 11 load-bearing wheels per side, the system ensures robust support and reduces ground pressure, which is essential for traversing soft or unstable surfaces. The mathematical relationship for the traction force $T$ generated by the tracks can be expressed as:
$$ T = \frac{M \cdot i}{R} $$
where $M$ is the output torque of the drive wheel (19 N·m), $i$ is the transmission ratio (30), and $R$ is the radius of the drive wheel (0.25 m). Substituting the values, we get $T = 2,280$ N. This traction force is crucial for overcoming resistances during movement, and it demonstrates how robot technology optimizes power delivery for real-world applications. The independent control of swing arms also allows for differential steering, enhancing maneuverability in tight spaces—a key advantage of incorporating robot technology into rescue systems.
For water navigation, the robot employs an airbag and propeller-based system, reflecting the integration of robot technology for amphibious functionality. The airbags, constructed from high-strength, tear-resistant materials, are attached to the robot’s sides using aluminum clips for easy deployment and removal. When the robot enters water, these airbags provide buoyancy, while two rear-mounted propellers, driven by S1800 brushless motors, deliver propulsion. The propellers are made from durable aluminum alloy, capable of generating sufficient thrust to achieve speeds up to 12 km/h and support a load of 1,100 kg. This dual-mode operation underscores the versatility of robot technology, as it allows the robot to switch seamlessly between terrestrial and aquatic environments. The parameters of the propulsion system are detailed in Table 2, highlighting how robot technology enables efficient energy use and reliable performance in diverse conditions.
| Parameter | Value |
|---|---|
| Specification | S1800 Brushless Motor |
| Power | 900 W |
| Maximum Boat Weight | 1,100 kg |
| Maximum Speed | 12 km/h |
The firefighting module is another critical application of robot technology, designed to enhance the robot’s emergency response capabilities. It comprises a dry powder fire extinguisher, an electric actuator, a fire clamp, a nozzle bracket, and a fire compartment. Upon detecting a fire source through integrated sensors, the control system—based on an STM32 microcontroller—activates the electric actuator to release the fire clamp, thereby pressing the extinguisher’s valve and discharging the suppressant. This automated process exemplifies how robot technology can streamline complex tasks, reducing human intervention in dangerous situations. The compartment is designed for easy reloading; by loosening bolts on the top cover, users can quickly replace the extinguisher, ensuring continuous operation. This feature highlights the practical benefits of robot technology in maintaining readiness and efficiency during rescue missions.
To assess the robot’s feasibility, we conducted an obstacle-crossing performance analysis, focusing on slope traversal—a common challenge in rescue operations. The robot must overcome resistances including rolling resistance $F_f$, internal friction $F_n$, and the component of gravity along the slope. The total resistance $\sum F$ during climbing is given by:
$$ \sum F = G \sin \alpha + F_f + F_n $$
where $G$ is the total weight of the robot (350 kg when loaded, equivalent to 3,430 N considering gravity), $\alpha$ is the slope angle, $F_f = f G \cos \alpha$ is the rolling resistance with $f$ as the coefficient of rolling resistance, and $F_n = f_n G$ is the internal friction with $f_n$ as the internal friction coefficient. Based on vehicle terrain mechanics, $f$ is taken as 0.02 for rough terrains like gravel or mud, and $f_n$ is set to 0.06. For a slope angle $\alpha = 30^\circ$, we calculate:
$$ F_f = 0.02 \times 3,430 \times \cos 30^\circ \approx 59.4 \, \text{N} $$
$$ F_n = 0.06 \times 3,430 \approx 205.8 \, \text{N} $$
$$ \sum F = 3,430 \times \sin 30^\circ + 59.4 + 205.8 = 1,715 + 59.4 + 205.8 = 1,980.2 \, \text{N} $$
Since the traction force $T = 2,280$ N exceeds $\sum F = 1,980.2$ N, the robot can reliably climb slopes up to $30^\circ$. This analysis confirms the effectiveness of the robot technology in ensuring robust mobility, as the design adequately addresses the forces encountered in real-world scenarios.
Furthermore, we performed a strength verification of key components using finite element analysis in SolidWorks, focusing on the front swing arm drive shaft—a critical element in the robot technology for power transmission. The shaft is made of ordinary carbon steel, with material properties listed in Table 3. We applied constraints including fixed geometry, fixed hinges, and bearing supports, along with an external torque of 50 N·m to simulate operational loads. After meshing and running the simulation, the results indicated a maximum stress of 88.4 MPa and a maximum deformation of $2.708 \times 10^{-4}$ mm. Given the yield strength of carbon steel is 220.594 MPa, the shaft comfortably meets design criteria, with minimal deformation ensuring stability. This validation underscores the reliability of the robot technology in withstanding mechanical stresses, as summarized in Table 3.
| Property | Value |
|---|---|
| Elastic Modulus | 210,000 MPa |
| Poisson’s Ratio | 0.28 |
| Yield Strength | 220.594 MPa |
The integration of robot technology in this amphibious rescue robot extends to its control systems and sensors, which include cameras and thermal imaging devices for real-time environmental monitoring. These elements enable autonomous navigation and target identification, reducing the need for direct human control in perilous situations. For example, the robot can detect obstacles or heat sources and adjust its path accordingly, leveraging algorithms that are central to modern robot technology. This capability is particularly useful in scenarios like collapsed buildings, where visibility is low, and rapid decision-making is crucial. By combining mechanical design with intelligent systems, our robot technology provides a comprehensive solution for enhancing rescue efficiency and safety.
In terms of energy efficiency, the robot technology incorporates optimized power management to extend operational duration. The motors and propulsion systems are selected for low energy consumption while maintaining high output, as evidenced by the 900 W power rating of the water propellers. This focus on sustainability is a key trend in robot technology, ensuring that the robot can operate for extended periods during prolonged rescue missions. Additionally, the use of lightweight materials like aluminum alloy minimizes overall weight, reducing energy demands without compromising strength. Such considerations highlight how robot technology balances performance with practicality, making the robot suitable for diverse applications.
To further illustrate the robot’s capabilities, we can analyze its performance on different terrains using additional formulas. For instance, the pressure exerted on the ground by the tracks can be calculated as $P = \frac{G}{A}$, where $A$ is the contact area. With a track width of 200 mm and length of 1,300 mm, $A \approx 0.26 \, \text{m}^2$, yielding $P \approx 13,230 \, \text{Pa}$ for a loaded robot. This low ground pressure is advantageous for traversing soft surfaces, a direct benefit of the robot technology employed in the tracked design. Moreover, the swing arms’ ability to pivot allows the robot to navigate stairs or rubble by adjusting the center of gravity, which can be modeled using moment equilibrium equations. For example, when ascending a step, the torque required can be derived as $\tau = G \cdot d$, where $d$ is the distance from the pivot point, ensuring stability through robot technology-driven dynamics.
In conclusion, the dual-swing-arm tracked amphibious rescue robot represents a significant advancement in robot technology, combining innovative mechanical design with analytical rigor to achieve high performance in rescue operations. Through detailed feasibility analyses, including obstacle crossing and component strength, we have demonstrated that the robot can operate reliably in slopes up to $30^\circ$ and withstand operational stresses. The integration of land and water mobility, along with firefighting features, showcases the versatility of robot technology in addressing complex challenges. As robot technology continues to evolve, this design provides a foundation for future enhancements, such as improved autonomy or additional sensors, further solidifying its role in saving lives and mitigating disasters. The ongoing development of such systems underscores the transformative potential of robot technology in creating safer and more efficient rescue solutions.