For this purpose, a rigid multibody model of the mechanism was built by taking the physical design restrictions of the front axle into account. In the first part of the study, proper joint positions of the mechanism which satisfy the kinematic requirements such as, acceptable toe deviation and steering error ranges, were determined. With this steering system the robot can move freely in all directions and is a type of holomonic motionKeyword : Fire extinguisher robot, robotic system, portable evacuation guide, multi-independent steeringĬomputer-aided design phases of the steering linkage of a passenger bus are presented. By using this method the steering system where each wheel can move freely. The results of this study will be able to create an intelligent robot that can minimize the risk of the work of a fire extinguisher profession with a multi-independent steering method. This study aims to provide an automatic fire extinguisher system that can help and lighten the fire extinguishing profession which has a high level of risk in its operation. As well as creating an automatic robot that aims to find a way automatically to find the presence of hotspots on the fire field without being controlled. In terms of design, although the designs of robots are minimalist and small, they provide protection at high temperatures, excellent waterproof when exposed to water spray, and a high impact resistance. ![]() This robot contains the following functional components: ultrasonic to find out the surrounding field, a light sensor to look for sources of hotspots or light sources, and a fan to turn off the candle or the point of fire. When this robot finds a source of fire, this robot will turn off the candle or source of the fire automatically. In this paper we simulate by searching for candles as a source of hotspots. With multi-independent steering, the wheels on the robot can navigate and move swiftly on each wheel that moves in all directions. In this paper, we have the idea of implementing an intelligent fire extinguisher robot with multi-independent steering that can be directed to the location of the fire to find the source of hotspots. With devices such as fire fighting robots, rescue robots, surveillance robots, and robots whose functions differ according to field needs. Robot technology appears to ease human work. The model can provide the camber angle, kingpin inclination, wheel track, wheel toe, and steering error variations with wheel travel or the steering angle. Since the suspension system and the steering system in two different planes are connected by the tie rod, three-dimensional loop closure equations are used in the model. The kinematic model of the suspension system, together with the associated steering system, is developed. A special double wishbone type of independent suspension for heavy vehicles, as described above, is the subject of this study. The inside wheel knuckle carries the air spring, relieving the lower or the upper wishbone of the suspension load. The outer wheel knuckle can then rotate about a kingpin connecting the two parts, providing steering. In such cases, simple revolute joints may replace spherical joints if the wheel knuckle is divided into two parts. These spherical joints also define the steering axis. However, particularly in the case of long and heavy vehicles, the requirements of large wheel locks and suspension travel may result in excessive specifications for the spherical joints connecting the wishbones to the wheel hubs. The conventional double wishbone suspensions are commonly used in light and heavy and road-and off-road vehicles. The final suspension system (pair) is 31% lighter than an equivalent rigid front axle in terms of load capacity. Throughout bench tests, in which real service conditions are simulated, no failure of any sort is encountered. In the last part of the study, prototyping and fatigue tests are carried out. ![]() Stress concentrated regions on the crucial system elements are determined and improvements are indicated, which result in the reduction of stress concentrations. The Finite Element Analysis (FEA) is applied to the complete suspension system for the chosen critical load conditions. Taking these loads into account, the mechanical design of the suspension system elements is performed. ![]() ![]() Subsequently, the kinetic analysis is carried out for the suspension system and the critical design loads that may act on the structural elements are determined. Firstly, the suspension geometry, which satisfies the required conditions of minimum deviation of camber angle and track width during wheel travel, is obtained within the given design volume by using Multibody Systems (MBS) and Design of Experiments (DOE) approaches. Design and experimental validation stages of an independent front suspension (IFS) that is designed for truck tractors of articulated commercial vehicles are summarised.
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