An investigation on quadruped reconfigurable mechanism in surveillance applications

Abstract

Due to the vast developments in inspective technologies, it is beyond doubt that intelligent systems or off-road machines would gain prominence in various applications of military or heavy vehicle systems, namely dangerous locations like undersea investigation, service of space vehicles, nuclear plants where men find it difficult to work, battlefield operations, Very Important Person (VIP) escort/security, rescue in earthquake and border security force. Presently, large numbers of human soldiers are engaged in ground operations to execute a mission. Human beings adjust their posture, behavior and so on to suit the circumstances on hand. For the Robots substitute humans, they have an effective exposing capacity, they change the posture, have Artificial Intelligence (AI), stand upright and lie down on the ground and get into the hideout. With the improvement in off-road machines and vehicles using future technologies and robots can have a reconfigurable mechanism which may follow the human being. The human hand as of the robot is also an expert one which could perform any complex operation. Reconfigurable robot kinematic mechanisms attract much interest in all fields, especially in off-road machines and vehicles. The present research aims to find the maximum effective path trajectory with the minimization of jerk of an off-road quadruped device. Many researchers have attempted to study robotic design while a few researchers have attempted to find out the artificial model for constructing a robot mechanism. Determination of stability and degrees of freedom (DOF), modeling, control, simulation, and applications is presented, because the object may get damaged if more amount of force is applied to it. A less amount of force applied on may cause the object to slip, which leads to low robustness. The main objective focuses on developing a kinematic model of four-bar linkage mechanism involving velocity, acceleration, and path trajectory analysis that are determined using Synthesis and Analysis of Mechanism (SAM) analyz