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Development of Armoured Robot |
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| Paper Id :
17960 Submission Date :
2023-08-08 Acceptance Date :
2023-08-14 Publication Date :
2023-08-25
This is an open-access research paper/article distributed under the terms of the Creative Commons Attribution 4.0 International, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. For verification of this paper, please visit on
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| Abstract |
In military applications requiring ground surveillance of active battle zones and other such areas where sending human beings might not be feasible and even dangerous to the life of human being, alternate solutions apart from drones must be considered. Drones provide bird eye view of the area but are limited by the fact that they cannot report actual ground conditions during active battle. In such conditions, an armored robot much like a tank can be used to review ground conditions and also deliver equipment upon modification.
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| Keywords | Armoured Robot, Traversing Robot, Robot for Battlefield, Robot with no Mechanical Arms or Legs. | ||||||
| Introduction | With the increase in the trend of using robots for all
applications where human intervention may not be possible and where safety and
cost are important factors, the necessity of robots that can traverse the
battlefield without taking much damage is felt. Many solutions are proposed for
such robots for battlefield use but they are very complicated and costly
involving mechanical legs and crane like apparatus, but these are meant for
support to soldier and very few designs focus purely on surveillance. This
paper deals with the design and development of an armored robot with 2 degrees
of freedom. The CAD model of the Robot has been made in Fusion 360 software at
the Faculty of Technology and Engineering, the Maharaja Sayajirao University of
Baroda. The proposed robot is a tank with no mechanical arms or legs and is
cost effective using commercially available methods of manufacture. |
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| Objective of study | In military applications requiring ground surveillance of
active battle zones and other such areas where sending human beings might not
be feasible and even dangerous to the life of human being, alternate solutions
apart from drones must be considered. Drones provide bird eye view of the area
but are limited by the fact that they cannot report actual ground conditions
during active battle. |
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| Review of Literature | Most of the robots in the market have bi-directional motion. So, for a
better case it would be good to consider an omni-directional motion. This website helped me understand the work case of these modern day wheels. In the case of mechanical designing and strength of the model, it seemed important to design a strong and sturdy design, that is not broken down by any kind of attack or thrust on its surface. Corran, R. S. (1983). Impact loading of plates — An experimental investigation. |
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| Main Text |
Mechanical
Design The structure
of the robot can be divided into 3 parts, 1. Frame 2. Main Body
(defensive plates) 3. Triangular
Protrusions (extra armor)
In our prototype, the frame is made from Mild Steel angle sections with dimensions 25 x 25 x 5 millimeters. The angle sections are welded together by MMAW using mild steel electrode and subsequently grinded to obtain smooth surface to form a cuboidal shape of dimensions given below. This was important to provide core structural rigidity to the body and will later act as a chassis for the body and armor plating.
For initial testing, the body is made using mild steel plates
of thickness 5 mm and is the main armor providing resistance to the internal
sensors and electronics from direct impact. Plates of mild steel are directly
welded to the frame using methods similar to the ones used to weld angle
sections together. The 5 mm plates provide considerable armor against small
projectiles. The Top plate is Fitted using M10 bolts whose nuts are welded to
the frame to maintain accessibility to the internal components. This was the
initial prototype and further improvements to the armor can be carried out. The Protrusions in the form of right-angle triangles of
size 100 x 100 x 12 millimeters are welded to the side plates of the body.
These provide excellent resistance against direct impact loads and offer some
relief to the body by absorbing appreciable protection from projectiles.
Finally, the structure is ready. Shown below is a render
of the structure design. Design Calculations Total weight (in KG) = density of steel x ((volume of 1
angle section x total angle sections used) + (volume of 1 plate x total plates
used) + (volume of 1 triangle x total triangles used)) This is done to get an estimate of the weight of the
structure and hence select the appropriate motor. Note that the actual weight
will vary somewhat than the calculated value. Static Loading Load = permissible tensile strength x ((cross sectional
area of angle section x 4) + (cross sectional area of plate x 4) In actual practice, load capacity is much higher due to
the welded joints and triangles. Translation motors Initially, geared DC motors were used in testing which
resulted in poor performance and very low torque. The motors burned out due to
such heavy load. Later, Planetary geared DC motors were used with RS735 motors
and P219 gearbox with 19.2:1 gear ratio. These motors provided high torque and
much better performance. However, they require a very high current posing
difficulty in cooling and burning up wires. Wheels
Mecanum wheels were used in the prototype to give an additional degree of freedom. These wheels provide sliding movements which is useful for good controllability. However, for rough terrain wheels can be changed to simple cylindrical wheels quite easily.
Control System The Control System includes a
microcontroller and Motor Driver Shield for controlling the motors. The advantages of using a microcontroller
are 1. Compact and reprogrammable unlike
hardwired circuitry. 2. At a later stage inclusion of other
features required by users may be added without any hassle. 3. Can be remotely operated and also
automated. The controller used for the purpose of the
prototype was FlySkyiX6. 6channel, 2.4GHz radio with telemetry capability. Microcontroller The microcontroller employed is the Arduino
UNO. It is a commonly used microcontroller in many prototype projects and is
easily programmable. This was used as the resources for the Arduino UNO are
easily available. Power Source Due to high current requirements, 12V LiPo
batteries were used. 2 batteries were used due to high power draining motors
and the circuit configurations which will be shown. Working Logic[1]
The Logic behind the code is shown in the
figure below. The motors can be run at different speeds to get different types
of motions. This was the basic idea behind the circuitry and code(servo
magazine, n.d). |
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| Hypothesis | The Robot is made using mild steel plates of high thickness and is designed such that it can withstand high impact and static loading (Corran, R. S., 1983). The triangular protrusions welded to the body are unique to this design only and provide high strength and impact resistance. High power motors are used to provide maximum thrust for irregular terrain. Thus, on a weight basis, the designed proposed here provides the most effective defense with less cost. | ||||||
| Conclusion |
A robot was developed which could take huge damage while
still retaining function. The proposed design has the most effective defence
armour on weight basis with direct implications of low cost. |
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| Suggestions for the future Study | This is a prototype model of our research work, and if developed professionally with help of armament companies, it can get us world-class results. | ||||||
| Acknowledgement | 1. I am thankful to my following colleagues who worked and helped me in this research work:¬¬ Khatri Aadil Akhtarhusen, Mehta Urmit Raj, Modi Vraj Kamlesh, Shah Girraj Ashok 2. I appreciate the efforts and mentoring of our faculty coordinator of The Faculty of Technology and Engineering, at The Maharaja Sayajirao University of Baroda, Dr. Akash B Pandey and Mr. Devasi Chocha. Under their guidance and support we are able to complete the research work. 3. I am thankful to The Robotics & EV Club of The Faculty of Technology and Engineering, at The Maharaja Sayajirao University of Baroda, for supporting our work and bearing all expenses to it. |
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| References | Books: 1. Albert D. Helfrick & William D. Cooper, Modern
Electronics Instrumentation and Measuring Instruments 2. M. Gopal, Control Systems (Principles and Design) 4e Journals: 1. Corran, R. S.
(1983). Impact loading of plates — An experimental investigation,. International
Journal of Impact Engineering,, 1(1), 3-22. https://doi.org/10.1016/0734-743X(83)90010-6. 2. Get rolling with Omni-directional wheels. Servo Magazine.
(n.d.). Retrieved February 28, 2023, from https://www.servomagazine.com/magazine/article/get-rolling-with-omni-directional-wheels
3. Magare, A. E., Yelve, N. P., Kulkarni, A. U., Kudva, A.
P., & Ipparthi, D. A. (2008). DESIGN, FABRICATION AND TESTING OF VERTICAL.
A AND HORIZONTAL SURFACE TRAVERSING (VHST) ROBOT . https://www.servomagazine.com/magazine/article/get-rolling-with-omni-directional-wheels International Journal of Impact Engineering,, 1(1), 3-22. https://doi.org/10.1016/0734-743X(83)90010-6. |
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| Endnote | https://www.servomagazine.com/magazine/article/get-rolling-with-omni-directional-wheels |
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