The paper proposes an original mechanical structure of a serial-tracked robot, subject of national invention patent number RO132301, B1/2021, destinated for humanitarian demining operations: anti-personnel mine detection by using a detection device mounted on the bottom’s tracked platform, demining and clearing the land of exploded mines using a TRTTR robot structure. The dynamic model of the robot structure is determined and numerically validated. A novel approach based on the Lagrange formalism and mechanical design equations has been used in the calculus and selection of robot driving motors. The obtained results for robot translation modules are presented and analyzed.

Recent advances in laser technologies offer significant flexibility in the additive manufacturing domain. Extensive work was focused on material processing using laser-directed energy deposition for repairing parts. This pilot study investigated the use of selective laser melting (SLM) for depositing a superior material such as CoCr on an existing stainless steel base. The interface between these dissimilar materials was analyzed. During fabrication, both metals were gradually mixed in the liquid state as the first CoCr powder layer was melded on the steel base without obvious defects. According to SEM and EDAX, the heat-affected zone has a limited depth (<20 µm). XRD patterns recorded across the CoCr–304 interface show a homogenous mixture of γ(Fe) and α(Co) solid solutions. The microporosity calculated by CT was under 0.5%. Microhardness was measured at and near the interface region, showing that the intermixing zone has high hardness (470–480 HV1), which may be related to the fine-grained microstructure. Mechanical testing reveals that the adhesion strength at rupture is 35% higher compared with the ultimate tensile strength of 304 steel. This adhesion strength can be attributed to the complete melting of CoCr particles after laser irradiation and to the reduced thickness of the HAZ and the IZ.

Modularity in the construction of industrial robots is becoming increasingly popular, as the modules can be assembled in different ways so as to obtain various architectures of industrial robots determined by the requirements of specific applications. Such a robot with modular structure is considered in this paper. The tracked mobile robot, with translation – rotation – translation – translation – rotation (TRTTR) modular serial structure, is the subject of national invention patent number RO132301 B1/2021, granted by the State Office for Inventions and Trademarks of Bucharest, to “Nicolae Bălcescu” Land Forces Academy of Sibiu, Romania [1]. The tracked mobile robot has been designed to perform the task of humanitarian demining operations and the mechanical structure, respectively the kinematic analysis were described in detail in papers [1,2]. A first general objective of this paper is to highlight a dynamic-organological method to achieve an architectural structure of mobile robot on tracks, able to replace the human element in areas with high risk for health and life, for detection and demining anti-personnel and anti-armor minefields in countries where military conflicts have taken place. For this scope it was performed the dynamic modeling using the Lagrange’s formalism and to achieve the constructive optimization of the TRTTR mechanical structure, in order to obtain a minimum energy consumption through an optimal arrangement of the modules in its structure. A second objective is to improve the action flexibility of the technological product in humanitarian detection and demining operations, as well as for educational purposes, by training highly educated and specialized human resources in the field of advanced military technologies. The differential equations of motion of the robot has obtained and respectively the mechanical design equations, which lead to the optimal choice of the drive motors of the modules in the robot structure. Also, it is presented the mathematical model for obtaining the driving motor of base translation modulus (MTB SIL) of the modular serial tracked robot and the constructive solution of the MTB SIL module.