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Fire Fighting Robot Using Issn 2395-1621 Klann Mechanism www.ierjournal.org International Engineering Research Journal (IERJ), Volume 2 Issue 12 Page 4481-4486, 2018 ISSN 2395-1621 FIRE FIGHTING ROBOT USING ISSN 2395-1621 KLANN MECHANISM #1Omkar Bhongale, #2Kamlesh Pal, #3Pratik Lingawar, #4Nilesh Hiwarkhade [email protected] [email protected] #1234Mechanical Engineering, RMDSSOE, Warje, Pune. ABSTRACT ARTICLE INFO Fire detecting & extinguishment are the hazardous job that invariably put the life of Article History fire fighter in danger by putting a robot to perform this task in a life fire prone area it Received: 14th April 2018 can avoid untoward incident. The robot made by wheel cannot run or walk on a rough & rocky surface, therefore robot with legs provided with klann mechanism is Received in revised form : beneficial for advanced walking vehicles. It can step over curbs, climb stairs or travel 14th April 2018 areas that are currently not accessible with wheels. In this mechanism links are connected by pivot joints and convert the rotating motion of the crank into Accepted: 17th April 2018 reciprocating motion to the legs. The klann mechanism is one of these leg mechanisms which consist of six-links which is used as an alternative for wheels. The previous Published online : robot were wheel based which cannot moves on a rough surface. So we are making 17th April 2018 robot which would be mounted on klann mechanism based vehicle. The vehicle is automatically controlled by using the sensor. The aim of this work is to contribute to the development of automation system and to design fire extinguisher robot. Following paper module contains design of fire fighting robot using Klann’s mechanism. As per design, calculation & by using various sensors. It also describes the working & advantages of klann’s over wheel. Keywords :- klanns mechanism, fire detector, ultrasonic sensor, fire extinguishing. I. INTRODUCTION In fire fighting robot using klann mechanism it has been established that off-road vehicles with legs exhibit Fire Fighting is a very dangerous task which involves better mobility, obtain higher energy efficiency and provide working in a dangerous environment comprising of dense more comfortable movement than those of conventional smoke, oxygen deficient atmosphere and elevated tracked or wheeled vehicles while moving on rough terrain. temperatures. Fire Fighters suffer serious burn injuries, So there is necessity to analyse & develop these leg suffocation, dense smoke obscures their vision and in mechanisms in order to meet various applications. The extreme cases can cause disorientation to the fire-fighters wheels are ineffective on rough and rocky areas, therefore thus trapping them in fire. Hence a need is felt for design robot with legs provided with klann mechanism is beneficial and development of fire fighting robot that will at least for advanced walking vehicles. It can step over curbs, climb assist fire fighters in curbing small fires from spreading stairs or travel areas that are currently not accessible with allowing fire fighters to concentrate on serious fire disaster. wheels. In this mechanism links are connected by pivot The fire-fighter must be able to get to a fire quickly and joints and convert the rotating motion of the crank into safely extinguish the fire, preventing further damage and reciprocating motion to the legs. The klann mechanism is reduce fatalities. Technology has finally bridged the gap one of these leg mechanisms which consist of six-links between fire fighting and machines allowing for a more which is used as an alternative for wheels. efficient and effective method of fire fighting. Robots designed to find a fire, before it rages out of control, could Two important parameter of robot: one day work with fire fighters greatly reducing the risk of A crank as an input link with continuous rotation injury to victims. motion should be used to achieve fast motion with minimum control. © 2018, IERJ All Rights Reserved Page 1 www.ierjournal.org International Engineering Research Journal (IERJ), Volume 2 Issue 12 Page 4481-4486, 2018 ISSN 2395-1621 An avoid foot path is necessary to step over small The number of links in the The number of links in the obstacles without raising the body too much height. Jansen mechanism is more Klann mechanism is less when compared to that in when compared to that in 1.1 Why legged mechanism? the Klann mechanism. It is the Jansen mechanism. It is costly. less costly. The main advantage of legged robots is their ability to access places impossible for wheeled robots. By copying to II. LITERATURE REVIEW the physical structure of legged animals, it may be possible to improve the performance of mobile robots. To provide Literature review regarding the fire-fighter robot must be more stable walking, scientists and engineers can implement able to get to a fire quickly and safely extinguish the fire, the relevant biological concepts in their design. The most preventing further damage and reduce fatalities. The wheels forceful motivation for studying legged robots is, are ineffective on rough and rocky areas, therefore robot with legs provided with klann mechanism is beneficial for To give access to places which are dirty. advanced walking vehicles. To give access to places those are dangerous. Job which are highly difficult. Review of Design and Fabrication of an Autonomous Fire Fighting Robot with Multisensor Fire Detection Using PID Legged robots can be used for rescue work after Controller studied by Tawfiqur Rakib et.al, [1]. In this paper earthquakes and in hazardous places such as the inside of a they have demonstrated the aim was to develop a system nuclear reactor, giving biologically inspired autonomous that detects and extinguishes the fire before the fire starts legged robots great potential. Low power consumption and and informs the electronic environment. In this project, weight are further advantages of walking robots. targets are microcontroller and motor control with reductive motor, obstacle detection with ultrasonic sensor, flame 1.2 Comparison between Jansen and Klann mechanism detection with flame sensor (LM38). Jansen Linkage (existing Klann Linkage (proposed Review of Robotic Based Fire Detection in Smart method) method) Manufacturing Facilities studied by Adeel ur Rehman et.al, [2]. In this they have demonstrated has to developed the intelligent fire fighting tank robot. Aluminum are used to make the robot. The tank robot is consisting of components like two servo motors, thermal array sensor, two DC motors, flame detector, ultrasonic sensor, IR and photo transistors, sound activation circuit and micro switch sensor. The goal of paper is search the prescribed area find the fire and extinguish it. The robot is activated by using DTMF transmitter and receiver. Review of New Concept for Indoor Fire Fighting Robot studied by Alhaza Tet.al, [3]. In this they are demonstrated on the paper gives the information about a new concept of 8 links per leg 120 degrees 6 links per leg 180 degrees indoor fire fighting robot is proposed and developed. It has of crank rotation per stride. of crank rotation per stride. the capability to climb stairs and negotiate several types of 3 legs will replace a wheel. 2 legs will replace a wheel. floor materials inside buildings. It can withstand high Counter clockwise rotation Clockwise rotation of the temperatures up to 700º C for about 60 minutes using of the crank. crank. multiple thermal insulation technique. It can communicate Step height is primarily Step height is achieved by with trapped and injured victims inside the fire seen and can achieved by a parallel rotating the connecting arm send video and audio information to the control unit linkage in the leg that is which is attached to the describing the fire environment inside the building. folded during the cycle crank on one end and the angling the lower portion middle of the leg on the Review of Autonomous Fire Fighting Mobile Platform of the leg. other. It pivots on a studied by Ten Nam Khoonet.al, [4]. In this they have grounded rocker. demonstrated on the fire detection and extinguishment are the hazardous job that invariably put the life of a fire fighter The eight-bar Jansen The six-bar Klann linkage in danger. By putting a mobile robot to perform this task in linkage evolved through is an expansion of the four- a fire-prone area, it can aid to avoid untoward incidents or iterations of a computer bar Burmester linkage the loss of lives. This paper describes the development of an program. developed in 1888 for Autonomous Fire Fighting Mobile Platform (AFFMP) that harbor cranes. is equipped with the basic fighting equipment that can patrol through the hazardous site via a guiding track with the aim Can walk only on even Can walk on uneven of early detection for fire. surfaces and terrain. surfaces and terrains. © 2018, IERJ All Rights Reserved Page 2 www.ierjournal.org International Engineering Research Journal (IERJ), Volume 2 Issue 12 Page 4481-4486, 2018 ISSN 2395-1621 Review of Walking Mechanism of Robot studied by Mr. Prashant Chanvan et.al, [5]. In this they have demonstrated on the wheels are ineffective on rough and rocky areas, therefore robot with legs provided with klann mechanism is beneficial for advanced walking vehicles. It can step over curbs, climb stairs or travel areas that are currently not accessible with wheels. In this mechanism links are connected by pivot joints and convert the rotating motion of the crank into the reciprocating motion to legs. The proportions of each of the links in the mechanism are defined to optimize the linearity of the foot for one-half of the rotation of the crank. The remaining rotation of the crank allows the foot to be raised to a predetermined height before returning to the starting position and repeating the cycle.
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