Design and fabrication of automated earthquake rescue machine
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This document describes the design and fabrication of an automated earthquake rescue machine. The machine is intended to remove debris from disaster sites without human assistance in order to work more quickly and safely. It has a tracked chassis for navigating varied terrain and a robotic arm with a multi-joint gripper for lifting and manipulating debris. The arm is servo-operated and hydraulically assisted. Experimental results showed the machine could lift up to 2.278 kg. The conclusions were that the rescue machine accomplishes the goal of aiding in earthquake disaster response and has applications for other disaster situations.
![International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395 -0056
Volume: 04 Issue: 02 | Feb -2017 www.irjet.net p-ISSN: 2395-0072
© 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 739
1.3 Experimental model
2 EXPERIMENTAL RESULTS:
Load lifting capacity of hydraulic system
Mode of operation = hydraulic operated
Hydraulic cylinder used = 20 ml syringes
Inside diameter = 19.13mm = 0.7531 inch
Outside diameter= 21 mm = 0.826 inch
Stroke length =125 mm = 4.921 inch
Rod diameter = 15.39 mm = 0.6059 inch
Pressure developed by syringe = 30.32 psi
Cylinder blind end area
Diameter = 0.7531 inch
Radius = d/2 = 0.7531/2 =0.3765 inch
Cylinder blind end area = ∏*(cylinderradius)2
= ∏*(0.3765)2
= 0.4453 inch2
Cylinder rod end area = blind end area – rod
area
Rod diameter = 0.6059 inch
Radius of rod = 0.6059/2
= 0.3029 inch
Rod area =∏r2
= ∏*(0.3029)2
= 0.288 inch2
Cylinder rod end area = 0.445-0.288
= 0.157 inch2
Pounds to be lifted by system
= pressure * cylinder diameter
= 32 * 0.157
= 5.024 pound = 2.278 kg
3. CONCLUSIONS
This paper has undergoes various aspects to design
earthquake rescuemachinebasedontechnologyconsidering
various aspect of it, and basics of machine designing are
observed that are explained clearly. These rescue machines
have a wide range of disasters applications.
This invention is designed to accomplish the above and
related end results, and comprises elements and features
here in after set forth. An illustrate embodiment of prevent
invention is described in relation toaccompanyingdrawings
of the same. It is to be understood that these illustrate
embodiments suggest only a few of the various ways in
which the principles of the invention may be employed.
4. ACKNOWLEDGEMENT:
We would like to acknowledge our H.O.D Dr. S. V. Prayagi,
Mechanical Dept., DBACER, SVSS for his immense support.
Also we would like convey our thanks to Prof. A. S.
Deshmukh , Asst. Prof. DBACER, SVSS.
Also at last but not the least we would like to thank entire
professors of Mechanical Dept. at DBACER for support and
knowledge
5. REFERENCES
[1] Hisashiosumi, application of robot technologies to the
disasters sites, JSME, research committee, 20 Feb-2014.](https://image.slidesharecdn.com/irjet-v4i2142-171115095603/85/Design-and-fabrication-of-automated-earthquake-rescue-machine-3-320.jpg)
![International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395 -0056
Volume: 04 Issue: 02 | Feb -2017 www.irjet.net p-ISSN: 2395-0072
© 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 740
[2] Mr. S.P. Vijayaragavan, live human detecting robots for
earthquake rescue operations, International journal of
business intelligent, June-2013.
[3] Hisashiosumi, Hitachi review 62(2013) no.2, use of
construction machine in earthquake recovery work.
November-2014.
[4] European centre on prevention and forecasting of
earthquake (ECPPE) technical handbook for search and
rescue operation in earthquakes, ATHENS, 1999.
[5] Mr. W.Durfee, Arduino microcontrollerguide,university
of Minnesota, Oct-2011.](https://image.slidesharecdn.com/irjet-v4i2142-171115095603/85/Design-and-fabrication-of-automated-earthquake-rescue-machine-4-320.jpg)
Design and fabrication of automated earthquake rescue machine
- 1. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395 -0056 Volume: 04 Issue: 02 | Feb -2017 www.irjet.net p-ISSN: 2395-0072 © 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 737 DESIGN AND FABRICATION OF AUTOMATED EARTHQUAKE RESCUE MACHINE Ankit Bagde1, Sarnath Naik2, Pratik Deshmukh3,Mahesh Sherkure4, Akshay Tiwari5 Akshay Deshmukh6 1-5Department of Mechanical Engineering, DBACER, Nagpur, Maharashtra, India 6Asst. Professor, Department of Mechanical Engineering, DBACER, Nagpur, Maharashtra, India ---------------------------------------------------------------------***--------------------------------------------------------------------- Abstract – An automated earthquake rescue machine is a reprogrammable multifunctional model designedto move material and debris from earthquake places. Our concept id to design and develop a simple and flexible machine to work in any conditions which are hazardous or non hazardous to the human beings. The basic objective of our project is to develop a versatile and low cist model to eliminate hazardous or non hazardous problems related to human beings. The machine is a remote operated motorized equipment model which specially designed and fabricated for the purpose of removing debris from the places where the earthquake occurs. The machine is equipped with track system to overcome any type of ground conditions. For the purpose ofremovingdebrisfrom disaster site it will have armed system which will be servo operated and hydraulically assisted. The machine will able to lift 1 kg amount of debris and has 3 degree of freedom. Key Words: automated rescue machine, earthquake rescue, automatic robot. 1. INTRODUCTION During great Japan earthquake disaster, japans rescue robot was used for actual disaster site for the first time. Many robot technologies were used and tested mainly along the sanriku coast and at the fukishima diaichi nuclear power plant. They were used along the sanriku coast to inspect critical infrastructure, to search for missing person driven underwater by tsunami todebris in water and disaster site and to inspect buildings that were in danger collapsing. At the Fukushima diaichi NNP; unmanned construction technology used to remove outdoor debris and several robot and rescue robots weremodifiedfor radiationdamageinvestigation and removal of radioactive debris. Humanitarian search and rescue operationcanbefound in most large scale emergency operations. tele operated robots search and rescue systems consists of tethered mobile robots that can navigate deep into rubbles to search for victims and to transfer critical onsitedata for rescues to evaluate at a safe spot outside of the disaster affected area has gained the interestofmanyemergency response institutions, distributed wireless sensor network applied in many different fields including medical, civil and environmental research has demonstrated its value in conveying data over a large area with high level of power efficiency, particularly suitable for the location of search and rescue robot in large search field. So we keep our focus on removal of debris from disaster siteswithouthumanassistanceand at faster rate and human safety. An automated earthquakerescuemachinewill consistat all track wheel system, so as to overcome any type of ground condition for the purpose of handling the material. It will have an arm system which will be servo operated. The arm will have degree of freedom in many directions. At the front at the arm it will havea multijaw gripper attached to accommodate the object of any shape or geometry shape. Thismachinewill beelectrical power assisted and remote operated. Machine also consists of robotic arm which will beservooperatedand hydraulically assisted. At the front multi jaw gripper is attached. The DC motor used for driving the track system with the help of belt drive. The arduino controller is used for giving angular motion. The RF module is used control and monitors the working of machine.
- 2. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395 -0056 Volume: 04 Issue: 02 | Feb -2017 www.irjet.net p-ISSN: 2395-0072 © 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 738 1.1 Methodology 1.2. Experimental Specifications: Sr. No. Components Dimensions and specification 01 Chassis Size=(609.6*304.8)mm Material = mild steel(25.4)mm circular c/s 02 Arm construction Lower boom=609.6mm,upper boom=304.8mm,capacity=1000gm, Degree of freedom=6 03 Gearedmotor 12 volt DC motor High torque 04 Battery 12 volt DC, 1.5amh Lead acid storage battery 05 Servo motor with controller 12 volt DC 06 Gripper 3 jaw type Research and data collection Experimentation of available data Checking physibility with existing ideas. Designing the machine with approximate dimensions. Deciding the components and spare part required. Fabrication of chassis and mountings Assembling of components and parts as per design Fabrication of robot arm on chassis Assembling servo drive and components Fixing of radio frequency drive on robot Testing of model
- 3. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395 -0056 Volume: 04 Issue: 02 | Feb -2017 www.irjet.net p-ISSN: 2395-0072 © 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 739 1.3 Experimental model 2 EXPERIMENTAL RESULTS: Load lifting capacity of hydraulic system Mode of operation = hydraulic operated Hydraulic cylinder used = 20 ml syringes Inside diameter = 19.13mm = 0.7531 inch Outside diameter= 21 mm = 0.826 inch Stroke length =125 mm = 4.921 inch Rod diameter = 15.39 mm = 0.6059 inch Pressure developed by syringe = 30.32 psi Cylinder blind end area Diameter = 0.7531 inch Radius = d/2 = 0.7531/2 =0.3765 inch Cylinder blind end area = ∏*(cylinderradius)2 = ∏*(0.3765)2 = 0.4453 inch2 Cylinder rod end area = blind end area – rod area Rod diameter = 0.6059 inch Radius of rod = 0.6059/2 = 0.3029 inch Rod area =∏r2 = ∏*(0.3029)2 = 0.288 inch2 Cylinder rod end area = 0.445-0.288 = 0.157 inch2 Pounds to be lifted by system = pressure * cylinder diameter = 32 * 0.157 = 5.024 pound = 2.278 kg 3. CONCLUSIONS This paper has undergoes various aspects to design earthquake rescuemachinebasedontechnologyconsidering various aspect of it, and basics of machine designing are observed that are explained clearly. These rescue machines have a wide range of disasters applications. This invention is designed to accomplish the above and related end results, and comprises elements and features here in after set forth. An illustrate embodiment of prevent invention is described in relation toaccompanyingdrawings of the same. It is to be understood that these illustrate embodiments suggest only a few of the various ways in which the principles of the invention may be employed. 4. ACKNOWLEDGEMENT: We would like to acknowledge our H.O.D Dr. S. V. Prayagi, Mechanical Dept., DBACER, SVSS for his immense support. Also we would like convey our thanks to Prof. A. S. Deshmukh , Asst. Prof. DBACER, SVSS. Also at last but not the least we would like to thank entire professors of Mechanical Dept. at DBACER for support and knowledge 5. REFERENCES [1] Hisashiosumi, application of robot technologies to the disasters sites, JSME, research committee, 20 Feb-2014.
- 4. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395 -0056 Volume: 04 Issue: 02 | Feb -2017 www.irjet.net p-ISSN: 2395-0072 © 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 740 [2] Mr. S.P. Vijayaragavan, live human detecting robots for earthquake rescue operations, International journal of business intelligent, June-2013. [3] Hisashiosumi, Hitachi review 62(2013) no.2, use of construction machine in earthquake recovery work. November-2014. [4] European centre on prevention and forecasting of earthquake (ECPPE) technical handbook for search and rescue operation in earthquakes, ATHENS, 1999. [5] Mr. W.Durfee, Arduino microcontrollerguide,university of Minnesota, Oct-2011.