Dual Operated Firefighting Robot

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Pillai, Arjun R, and 1 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-805493/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract In this study, a dual operated firefighting robot was designed, fabricated and analyzed. The robot can be operated in both RC and automatic modes. The robot consists of three different types of system units- fire detection system, extinguishing system and communication system. The fire detection system uses flame sensors for detection of fire. The extinguishing unit consists of fire extinguisher cylinder mounted on the robot which can be controlled by the user through a remote. . The fire extinguisher is operated with the help of a relay circuit. The whole set up is controlled and monitored by the main controller or microprocessor. Using a belt drive enables the robot to climb stairs. The main chassis consists of 400mm*390mm aluminum profile. Four motors, each of 60 rpm, are used which provides adequate thrust for motion. The power supply for the functioning of robot is provided by a 12V, 7 AH battery. The compact design of the firefighting robot enables it to enter small or narrow space with ease. More over the dual operation ability of the robot helps to increase the overall efficiency of the robot. Mechanical Engineering Robotics Robot RC Automatic Sensors Fire Extinguisher Belt drive Motor Relay Control Unit Chassis Battery Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Introduction Fire incident is a disaster that can potentially cause the loss of life, property damage and permanent disability to the affected victim. They can also suffer from prolonged psychological and trauma. Fire fighters are primarily tasked to handle fire incidents, but they are often exposed to higher risks when extinguishing fire, especially in hazardous environments such as in nuclear power plant, petroleum refineries and gas tanks. They are also faced with other difficulties, particularly if fire occurs in narrow and restricted places, as it is necessary to explore the ruins of buildings and obstacles to extinguish the fire and save the victim. Casualties and property damage from fire continue to exist in fire disasters and new measures are continuously introduced. One of the major hazards associated with firefighting operations is the toxic environment created by combustible materials. The four major risks are smoke, oxygen deficiency, elevated temperatures, and poisonous atmospheres. Additional hazards include falls and structural collapse that can exacerbate the problems encountered in a toxic environment. To combat some of these risks, fire fighters carry self-contained breathing apparatus. The first step in a fire fighting operation is reconnaissance to search for the origin of the fire and to identify the specific risks. Yoshihiro et Al. [ 1 ] compared the firefighting skills of experts and novices. For the comparison, two sets of evaluation items are created on the basis of the fundamental tactics of firefighting- evaluating the reconnaissance activity and determining the water discharge point. It was concluded that the experts evaluate the reconnaissance areas in a multifaceted way whereas novices evaluate only a limited range of reconnaissance area as they cannot follow a multifaceted approach similar to experts. Several mobile robots have been implemented to carry out reconnaissance and dexterity operations in remote environments comprising of unstructured obstacles. Karo, a mobile robot, has been designed and implemented that exhibits high degree of mobility at the side of maintaining required dexterity and exploration capabilities for urban search and rescue (USAR) missions. It exhibits superior properties when compared to its counter parts [ 2 ]. Intelligent firefighting robots are an area of active research to reduce casualties. Several autonomous systems were developed for fire suppression with closed loop control. The advantages of autonomous systems are that they increase the effectiveness of firefighting tasks through advanced vision systems and image feedback support in low visibility environments [ 3 ]. An advanced version of this system involves an infrared image- based feedback control system, whose aims are to realize automatic aiming of the fire site and continuous fire tracking in the process of fire extinguishing through adjusting of the yaw angle of the fire monitor[ 4 ]. While a range of fire-fighting robots have been developed and put in action worldwide, they have not yet contributed greatly to the fight. Most robots assist only in small ways, helping fight fires from a distance or monitoring outside fire scenes. With high barriers and risks in fire extinguishment operations, technological innovations can be utilized to assist firefighting. Material And Methods Material selection and Design of Firefighting Robot The robot was designed using SOLIDWORKS 2020.At this stage; the various limitations faced by the existing firefighting robot were taken into consideration such as limitation over transportation due to enormous size and weight of the robot, the need for external supply of fire extinguishing fluids and cost of manufacturing. The materials were selected so as to reduce the overall weight and improve the efficiency of the robot. Aluminium Bronze was selected for the fabrication of chassis of the robot, because of its high strength to weight ratio, high durability and anti-corrosive property. Bakelite sheet was chosen for the base of the robot, because of its high temperature withstanding capacity. The wheel of the robot was made using stainless steel. Hardware Components involved The ESP-32 microprocessor is used for controlling the various operations of the robot. It has lower power consumption and higher efficiency. The flame sensor module consists of a flame sensor (IR receiver), resistor, capacitor, potentiometer, and comparator LM393 in an integrated circuit. It can detect infrared light with a wavelength ranging from 700nm to 1000nm. The far-infrared flame probe converts the light detected in the form of infrared light into current changes. Sensitivity is adjusted through the onboard variable resistor with a detection angle of 60 degrees. The working voltage is between 3.3v and 5.2v DC, with a digital output to indicate the presence of a signal. Sensing is conditioned by an LM393 comparator. L298N motor driver unit is used to control the motors. It consists of an L298 Motor Driver IC, 78M05 Voltage Regulator, resistors, capacitor, Power LED, 5V jumper in an integrated circuit.12V Johnson motor of 60 rpm was used which is mechanically commutated electric motor powered from direct current (DC). It gives a massive torque of 25kgcm. It has a metal gearbox with 6mm shaft diameter and gearbox of diameter 37mm.The motor used for actuating the extinguisher is MG995 metal gear servo motor. Working of the Robot The robot consists of three different types of system units- fire detection system, extinguishing system and communication system. The fire detection system uses thermal sensors for detection of fire. The extinguishing unit consists of fire extinguisher cylinder mounted on the robot. According to the type of fire, the fire extinguisher can be changed. The Flame sensors are used by the robot to sense the temperature of its environment and move to the area of higher temperature. The robot is able to operate in two mode that is RC and Automatic mode. In RC mode, the robot can be controlled by using a remote. Remote is provided with a joystick and a switch, which is connected to a Wi-Fi module (ESP-32). Joystick can be used to control the movement of the robot and switch is used to actuate the fire extinguisher manually. Whereas, in Automatic mode the robot turns 360 direction and when it detects the flame, it moves in that particular direction to extinguish the flame. Discussing about the connections in the Robot, main controller (Microprocessor) is used to control the four motors through a motor driver. The power supply for the entire robot is provided by a 12V 7AH Battery Fabrication of the Prototype The chassis of the prototype is made using the aluminium bronze. The aluminium bronze tube is cut into required dimension (400mm x 390mm) to form a rectangular frame and it is fastened by using screws. Also, L brackets are used to provide structural rigidity to the rectangular frame. The motor mount is fixed to the rectangular aluminium frame using screws. The motors are assembled on the chassis with the help of motor mounts. Wheels are then attached to the motor shaft. Bakelite sheet is attached to the top of the rectangular frame and all the hardware components including microprocessor, motor driver and flame detector sensor and are attached on it and connections are made. A covering, using Bakelite sheet, is given to the hardware components for its safety. The Fire Extinguisher is placed in a tilted position thereby the spot of its action can be varied. The belt drive of the robot is fixed and a pair of dummy wheels are attached in order to provide structural stability for the belt drive. M odule Development of Remote Controller The joystick which is used to control the direction of motion of the robot and the control switch for actuating the extinguisher is soldered to a PCB along with the ESP-32 microprocessor. A cover is developed using 3D printing technology for the safety of the PCB and the components. Development of Extinguisher Actuator The actuator is made by combining 3D printed parts and is controlled by servo motor. The servo motor used is MG995 which can provide 10kg/cm at 4.8V, and 12kgcm at 6V. This servo motor can rotate approximately 180 degrees (60 in each direction). Results And Discussion Structural Analysis The analysis is performed in ANSYS 2020 R1. The equivalent stress distribution diagram when a load of 60N is applied is shown in Fig. 8. Stress Concentration was found to be more active at the sides and at the junction of wheel and motor shaft. The maximum stress was found to be 2.487MPa at which the part fails. The minimum stress was found to be 1.4215x10 -3 MPa. From the stress analysis, it is seen that the maximum stress that the part can withstand was 2.487MPa whereas the tensile yield strength of aluminium bronze is 49.7MPa. Therefore, we can conclude that the aluminium bronze used for fabrication is completely safe as it is found to be within the elastic limit. The tensile ultimate strength was found to be 414MPa at which it fails. Also, the tensile strength of Bakelite and Stainless Steel was found to be 50MPa and 243MPa respectively (Table 2 and Table 3 ). Thus, it can be concluded that both Bakelite and Stainless Steel are within the elastic limits and is completely safe. Both the Bakelite and Stainless Steel has ultimate tensile strength of 62.1MPa and 46MPa respectively at which they fail. When a load of 60N was applied, the maximum equivalent elastic strain was found to be 5.6752x10 -4 . The minimum was found to be 1.3741x10 -8 and the average stress was1.898x10 -6 . Deformation when a load of 60N was applied is shown in the Fig. 10. The deformation was found to be more at the centre and the maximum deformation was found to be 0.94088 mm. The minimum deformation was 0 mm and the average deformation was 1.357x10 -3 mm. Thermal Analysis The normal building fire temperature is in the range of 534 ̊ C to 815 ̊ C. The Aluminium Bronze used here has a melting point of 1190 ̊ C - 1215 ̊ C. The Aluminium Bronze profile has the ability to withstand the temperature caused by the building fire. Moreover, the whole system will be covered by the material Bakelite which is high resistant to heat and has a melting point 1800 ̊ C. From Fig.11,the maximum total heat flux was found to be 7.8208x10 -12 W/mm 2 and the minimum total heat flux was found to be 1.147x10 -17 W/mm 2 . The figure 12 shows the temperature plot in steady state, when a maximum temperature of 820 ̊ C wss applied. Aluminium Bronze,Bakelite, and Stainless Steel was found to withstand the normal building fire, since these materials have a melting point of 1190 ̊ C, 1800 ̊ C, 1510 ̊ C respectively which is greater than the normal building fire temperature, ranging from 534 ̊ C to 820 ̊ C. It indicates that the part is thermally stable. Material Properties Table 1 Aluminium Bronze Properties Table 2 Bakelite Properties Table 3 Stainless Steel, Austenitic Properties Also the tensile strength of Bakelite and Stainless Steel was found to be 50MPa and 243MPa respectively (Table 2 and Table 3). Thus, it can be concluded that both Bakelite and Stainless Steel are within the elastic limits and is completely safe. Both the Bakelite and Stainless Steel has ultimate tensile strength of 62.1MPa and 46MPa respectively at which they fail. Aluminium Bronze, Bakelite, and Stainless Steel was found to withstand the normal building fire, since these materials have a melting point of 1190 ̊ C, 1800 ̊ C, 1510 ̊ C respectively which is greater than the normal building fire temperature, ranging from 534 ̊ C to 820 ̊ C. Conclusion The dual operated firefighting robot was designed and analysed. This proposes a great chance for automation and will be useful at places where humans cannot reach or is dangerous. The operator is able to extinguish fire using remote control from longer distances. Also, the robot can be switched to automatic mode. The robot can sense fire accurately in a short time. This robot can be used at a place that has a small entrance or in small spaces since it has a compact structure. The operator is able to extinguish fire using remote control from longer distance thus it ensures the safety of the operator who operates the robot. The current design overcomes the limitations of transportation of robot from one place to another that is faced by most of the robots available now. The structural stability of the robot was found to be in good condition. The von Misses Stress for the entire system is found to be minimum of 1.4215x10-3MPa and a maximum of 2.487MPa. The deformation was at the centre of the structure and maximum deformation was found to be 0.94088mm and a minimum of 0mm. And the strain acting on the robot is minimum 1.3741x10-8 to a maximum 5.6752x10-4. The entire robot was found to be thermally stable and will not get damaged in a fire incident. Actuation Delay Time (ADT) of the extinguisher was found out to be less than 1 second. The slope of extinguisher various spraying position was found out by trial and error method and a slope of 50 ̊ was selected. The robot was tested to climb slopes, and it was found to climb a maximum slope of 40 ̊. Abbreviations USAR: Urban Search and Rescue; ADT: Actuation Delay Time . Declarations Acknowledgement The authors thankfully acknowledge our guide, Er. Manoj Balakrishnan, Assistant Professor, Department of Mechanical Engineering, for his valuable guidance, support and encouragement during the course of the project work and in the preparation of the manuscript. Authors’ contributions All the authors contributed equally in the fabrication ,design and analysis of the robot. Funding nil Availability of data and materials The data and source code used to support the findings of this study are avail- able from the corresponding author upon request. Competing interests The authors declare that they have no competing interests. Author details The authors belongs to Department of Mechanical Engineering,Saintgits College of Engineering,Kottayam,Kerala,India. References Yoshihiro Tamura1, Hisanori Amano and Jun Ota (2020) Analysis of firefighting skill with a teleoperated robot Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo 113–8656, Japan Soheil Habibian1, Mehdi Dadvar1, Behzad Peykari1, Alireza Hosseini1, M. Hossein Salehzadeh1, Alireza H. M. Hosseini1 and Farshid Najafi (2021) Design and implementation of a maxi–sized mobile robot (Karo) for rescue missions University of Tehran, College of Engineering, School of Mechanical Engineering, Tehran, Iran Joshua G, McNeil, Brian Y, Lattimer V, Tech, Blacksburg, Brian Y, Lattimer J, Hughes, Baltimore (2016) Robotic Fire Suppression Through Autonomous Feedback Control Fire Technology 10.1007/s10694-016-0623-1 Zhu J, Li W, Lin D, Cheng H, Zhao G (2020) Intelligent Fire Monitor for Fire Robot Based on Infrared Image Feedback Control Fire Technolo 10694-020-00964-4 Jeelani, S., et al., Robotics and medicine: A scientific rainbow in hospital. Journal of Pharmacy & Bioallied Sciences, 2015. 7(Suppl 2): p.S381-S383 Aliff M, Dohta S, Akagi T (2015) Simple Trajectory Control Method of Robot Arm Using Flexible Pneumatic Cylinders. J Robot Mechatron 27(6):698–705 Aliff M, D.S., and Akagi T (2017) Control and analysis of simple-structured robot arm using flexible pneumatic cylinders. International Journal of Advanced Applied Sciences 4(12):151–157 Aliff M, Dohta S, Akagi T (2014) Control and analysis of robot arm using flexible pneumatic cylinder. Mechanical Engineering Journal 1(5):DR0051–DR0051 M. Aliff, S. Dohta and T. Akagi, Trajectory controls and its analysis for robot arm using flexible pneumatic cylinders," IEEE International Symposium on Robotics and Intelligent Sensors (IRIS), 2015, pp. 48–54 Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-805493","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":46024386,"identity":"a294a3e2-83c0-4e4e-ae63-48f07663440a","order_by":0,"name":"Akash Sugathan","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABIUlEQVRIie2Ov0vDQBTH3xGIyytZDyLmX3hdikIg/ilmaTd/IEgFCTkC1yXoKjj6F4j/QMqBXVK6Fro0ODiXgNwkpjSDgjkcBe+z3LvH+/D9AlgsfxEEcLZPNBNiDcCbmaW/UvahVBltFQQmzE6rhLAcSd4uzDFerl7rc0iQpbG81jeHp5H3OKk0hGfB8c8Kn8uBfw8KHZjKFb7wS+SVyBCGR09FR8wCBg5CgS4TcgUuj3M+FRmAon5HvWCxV9fYFEOHyQv9sVOENig0z8lHcJC7TEJPNoonRIqNEnT06pfllY+kkJBlfu+2UZZMPCANiTqUg3L0XOM4iSh4qzb6PYknd7P1Ro9DCjqKtfW+fvjJbkOFSfmG156aUywWi+Uf8Ql28liQwkTjPAAAAABJRU5ErkJggg==","orcid":"https://orcid.org/0000-0001-5720-0132","institution":"Saintgits College of Engineering","correspondingAuthor":true,"submittingAuthor":false,"prefix":"","firstName":"Akash","middleName":"","lastName":"Sugathan","suffix":""},{"id":46024387,"identity":"9f714fcc-8d2f-442e-9926-a8e5ffaf8524","order_by":1,"name":"Manoj Balakrishnan","email":"","orcid":"","institution":"Saintgits College of Engineering","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Manoj","middleName":"","lastName":"Balakrishnan","suffix":""},{"id":46024388,"identity":"467a64f5-9121-430d-9dda-329892d96348","order_by":2,"name":"Abhijith A. 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They can also suffer from prolonged psychological and trauma. Fire fighters are primarily tasked to handle fire incidents, but they are often exposed to higher risks when extinguishing fire, especially in hazardous environments such as in nuclear power plant, petroleum refineries and gas tanks. They are also faced with other difficulties, particularly if fire occurs in narrow and restricted places, as it is necessary to explore the ruins of buildings and obstacles to extinguish the fire and save the victim.\u003c/p\u003e\n\u003cp\u003eCasualties and property damage from fire continue to exist in fire disasters and new measures are continuously introduced. One of the major hazards associated with firefighting operations is the toxic environment created by combustible materials. The four major risks are smoke, oxygen deficiency, elevated temperatures, and poisonous atmospheres. Additional hazards include falls and structural collapse that can exacerbate the problems encountered in a toxic environment. To combat some of these risks, fire fighters carry self-contained breathing apparatus.\u003c/p\u003e\n\u003cp\u003eThe first step in a fire fighting operation is reconnaissance to search for the origin of the fire and to identify the specific risks. Yoshihiro et Al. [\u003cspan class=\"CitationRef\"\u003e1\u003c/span\u003e] compared the firefighting skills of experts and novices. For the comparison, two sets of evaluation items are created on the basis of the fundamental tactics of firefighting- evaluating the reconnaissance activity and determining the water discharge point. It was concluded that the experts evaluate the reconnaissance areas in a multifaceted way whereas novices evaluate only a limited range of reconnaissance area as they cannot follow a multifaceted approach similar to experts. Several mobile robots have been implemented to carry out reconnaissance and dexterity operations in remote environments comprising of unstructured obstacles. Karo, a mobile robot, has been designed and implemented that exhibits high degree of mobility at the side of maintaining required dexterity and exploration capabilities for urban search and rescue (USAR) missions. It exhibits superior properties when compared to its counter parts [\u003cspan class=\"CitationRef\"\u003e2\u003c/span\u003e]. Intelligent firefighting robots are an area of active research to reduce casualties. Several autonomous systems were developed for fire suppression with closed loop control. The advantages of autonomous systems are that they increase the effectiveness of firefighting tasks through advanced vision systems and image feedback support in low visibility environments [\u003cspan class=\"CitationRef\"\u003e3\u003c/span\u003e]. An advanced version of this system involves an infrared image- based feedback control system, whose aims are to realize automatic aiming of the fire site and continuous fire tracking in the process of fire extinguishing through adjusting of the yaw angle of the fire monitor[\u003cspan class=\"CitationRef\"\u003e4\u003c/span\u003e].\u003c/p\u003e\n\u003cp\u003eWhile a range of fire-fighting robots have been developed and put in action worldwide, they have not yet contributed greatly to the fight. Most robots assist only in small ways, helping fight fires from a distance or monitoring outside fire scenes. With high barriers and risks in fire extinguishment operations, technological innovations can be utilized to assist firefighting.\u003c/p\u003e"},{"header":"Material And Methods","content":"\u003cdiv class=\"Section2\" id=\"Sec3\"\u003e\n \u003ch2\u003eMaterial selection and Design of Firefighting Robot\u003c/h2\u003e\n \u003cp\u003eThe robot was designed using SOLIDWORKS 2020.At this stage; the various limitations faced by the existing firefighting robot were taken into consideration such as limitation over transportation due to enormous size and weight of the robot, the need for external supply of fire extinguishing fluids and cost of manufacturing. The materials were selected so as to reduce the overall weight and improve the efficiency of the robot. Aluminium Bronze was selected for the fabrication of chassis of the robot, because of its high strength to weight ratio, high durability and anti-corrosive property. Bakelite sheet was chosen for the base of the robot, because of its high temperature withstanding capacity. The wheel of the robot was made using stainless steel.\u003c/p\u003e\n \u003cp\u003e\u003cstrong\u003eHardware Components involved\u003c/strong\u003e\u003c/p\u003e\n \u003cp\u003eThe ESP-32 microprocessor is used for controlling the various operations of the robot. It has lower power consumption and higher efficiency. The flame sensor module consists of a flame sensor (IR receiver), resistor, capacitor, potentiometer, and comparator LM393 in an integrated circuit. It can detect infrared light with a wavelength ranging from 700nm to 1000nm. The far-infrared flame probe converts the light detected in the form of infrared light into current changes. Sensitivity is adjusted through the onboard variable resistor with a detection angle of 60 degrees. The working voltage is between 3.3v and 5.2v DC, with a digital output to indicate the presence of a signal. Sensing is conditioned by an LM393 comparator. L298N motor driver unit is used to control the motors. It consists of an L298 Motor Driver IC, 78M05 Voltage Regulator, resistors, capacitor, Power LED, 5V jumper in an integrated circuit.12V Johnson motor of 60 rpm was used which is mechanically commutated electric motor powered from direct current (DC). It gives a massive torque of 25kgcm. It has a metal gearbox with 6mm shaft diameter and gearbox of diameter 37mm.The motor used for actuating the extinguisher is MG995 metal gear servo motor.\u003c/p\u003e\n \u003cp\u003e\u003cstrong\u003eWorking of the Robot\u003c/strong\u003e\u003c/p\u003e\n \u003cp\u003eThe robot consists of three different types of system units- fire detection system, extinguishing system and communication system. The fire detection system uses thermal sensors for detection of fire. The extinguishing unit consists of fire extinguisher cylinder mounted on the robot. According to the type of fire, the fire extinguisher can be changed. The Flame sensors are used by the robot to sense the temperature of its environment and move to the area of higher temperature. The robot is able to operate in two mode that is RC and Automatic mode. In RC mode, the robot can be controlled by using a remote. Remote is provided with a joystick and a switch, which is connected to a Wi-Fi module (ESP-32). Joystick can be used to control the movement of the robot and switch is used to actuate the fire extinguisher manually. Whereas, in Automatic mode the robot turns 360 direction and when it detects the flame, it moves in that particular direction to extinguish the flame.\u003c/p\u003e\n \u003cp\u003eDiscussing about the connections in the Robot, main controller (Microprocessor) is used to control the four motors through a motor driver. The power supply for the entire robot is provided by a 12V 7AH Battery\u003c/p\u003e\n \u003cp\u003e\u003cstrong\u003eFabrication of the Prototype\u003c/strong\u003e\u003c/p\u003e\n \u003cp\u003eThe chassis of the prototype is made using the aluminium bronze. The aluminium bronze tube is cut into required dimension (400mm x 390mm) to form a rectangular frame and it is fastened by using screws. Also, L brackets are used to provide structural rigidity to the rectangular frame. The motor mount is fixed to the rectangular aluminium frame using screws. The motors are assembled on the chassis with the help of motor mounts. Wheels are then attached to the motor shaft. Bakelite sheet is attached to the top of the rectangular frame and all the hardware components including microprocessor, motor driver and flame detector sensor and are attached on it and connections are made. A covering, using Bakelite sheet, is given to the hardware components for its safety. The Fire Extinguisher is placed in a tilted position thereby the spot of its action can be varied. The belt drive of the robot is fixed and a pair of dummy wheels are attached in order to provide structural stability for the belt drive.\u003c/p\u003e\n \u003cp\u003e\u003cstrong\u003eM\u003c/strong\u003e\u003cstrong\u003eodule Development of Remote Controller\u003c/strong\u003e\u0026nbsp;\u003c/p\u003e\n \u003cp\u003eThe joystick which is used to control the direction of motion of the robot and the control switch for actuating the extinguisher is soldered to a PCB along with the ESP-32 microprocessor. A cover is developed using 3D printing technology for the safety of the PCB and the components.\u003c/p\u003e\n \u003cp\u003e\u003cstrong\u003eDevelopment of Extinguisher Actuator\u003c/strong\u003e\u003c/p\u003e\n \u003cp\u003eThe actuator is made by combining 3D printed parts and is controlled by servo motor. The servo motor used is MG995 which can provide 10kg/cm at 4.8V, and 12kgcm at 6V. This servo motor can rotate approximately 180 degrees (60 in each direction).\u003c/p\u003e\n\u003c/div\u003e"},{"header":"Results And Discussion","content":"\u003cp\u003e\u003cstrong\u003eStructural Analysis\u003c/strong\u003e\u003c/p\u003e\n\u003cp\u003eThe analysis is performed in ANSYS 2020 R1. The equivalent stress distribution diagram when a load of 60N is applied is shown in Fig.\u0026nbsp;8. Stress Concentration was found to be more active at the sides and at the junction of wheel and motor shaft. The maximum stress was found to be 2.487MPa at which the part fails. The minimum stress was found to be 1.4215x10\u003csup\u003e-3\u003c/sup\u003eMPa.\u003c/p\u003e\n\u003cp\u003eFrom the stress analysis, it is seen that the maximum stress that the part can withstand was 2.487MPa whereas the tensile yield strength of aluminium bronze is 49.7MPa. Therefore, we can conclude that the aluminium bronze used for fabrication is completely safe as it is found to be within the elastic limit. The tensile ultimate strength was found to be 414MPa at which it fails. Also, the tensile strength of Bakelite and Stainless Steel was found to be 50MPa and 243MPa respectively (Table\u0026nbsp;\u003cspan class=\"InternalRef\"\u003e2\u003c/span\u003e and Table\u0026nbsp;\u003cspan class=\"InternalRef\"\u003e3\u003c/span\u003e). Thus, it can be concluded that both Bakelite and Stainless Steel are within the elastic limits and is completely safe. Both the Bakelite and Stainless Steel has ultimate tensile strength of 62.1MPa and 46MPa respectively at which they fail.\u003c/p\u003e\n\u003cp\u003eWhen a load of 60N was applied, the maximum equivalent elastic strain was found to be 5.6752x10\u003csup\u003e-4\u003c/sup\u003e. The minimum was found to be 1.3741x10\u003csup\u003e-8\u003c/sup\u003e and the average stress was1.898x10\u003csup\u003e-6\u003c/sup\u003e.\u003c/p\u003e\n\u003cp\u003eDeformation when a load of 60N was applied is shown in the Fig.\u0026nbsp;10. The deformation was found to be more at the centre and the maximum deformation was found to be 0.94088 mm. The minimum deformation was 0 mm and the average deformation was 1.357x10\u003csup\u003e-3\u003c/sup\u003e mm.\u003c/p\u003e\n\u003cp\u003e\u003cstrong\u003eThermal Analysis\u003c/strong\u003e\u003c/p\u003e\n\u003cp\u003eThe normal building fire temperature is in the range of 534 ̊ C to 815 ̊ C. The Aluminium Bronze used here has a melting point of 1190 ̊ C - 1215 ̊ C. The Aluminium Bronze profile has the ability to withstand the temperature caused by the building fire. Moreover, the whole system will be covered by the material Bakelite which is high resistant to heat and has a melting point 1800 ̊ C.\u003c/p\u003e\n\u003cp\u003eFrom Fig.11,the maximum total heat flux was found to be 7.8208x10\u003csup\u003e-12\u003c/sup\u003e W/mm\u003csup\u003e2\u003c/sup\u003e and the minimum total heat flux was found to be 1.147x10\u003csup\u003e-17\u003c/sup\u003e W/mm\u003csup\u003e2\u003c/sup\u003e.\u003c/p\u003e\n\u003cp\u003eThe figure 12 shows the temperature plot in steady state, when a maximum temperature of 820 ̊ C wss applied. Aluminium Bronze,Bakelite, and Stainless Steel was found to withstand the normal building fire, since these materials have a melting point of 1190 ̊ C, 1800 ̊ C, 1510 ̊ C respectively which is greater than the normal building fire temperature, ranging from 534 ̊ C to 820 ̊ C. It indicates that the part is thermally stable.\u003c/p\u003e\n\u003cp\u003e\u003cstrong\u003eMaterial Properties\u003c/strong\u003e\u003c/p\u003e\n\u003cp\u003e\u003cstrong\u003eTable\u0026nbsp;1\u003c/strong\u003e\u003cstrong\u003eAluminium Bronze Properties\u003c/strong\u003e\u003c/p\u003e\n\u003cp\u003e\u003cimg src=\"https://myfiles.space/user_files/83400_b9e2661d18ef2d4b/83400_custom_files/img1629283170.png\"\u003e\u003c/p\u003e\n\u003cp\u003e\u003cstrong\u003e\u003cstrong\u003eTable 2 Bakelite Properties\u003c/strong\u003e\u003c/strong\u003e\u003c/p\u003e\n\u003cp\u003e\u003cimg src=\"https://myfiles.space/user_files/83400_b9e2661d18ef2d4b/83400_custom_files/img1629283187.png\"\u003e\u003c/p\u003e\n\u003cp\u003e\u003cstrong\u003e\u003cstrong\u003e\u003cstrong\u003eTable\u0026nbsp;3\u003c/strong\u003e\u003cstrong\u003eStainless Steel, Austenitic Properties\u003c/strong\u003e\u003c/strong\u003e\u003c/strong\u003e\u003c/p\u003e\n\u003cp\u003e\u003cimg src=\"https://myfiles.space/user_files/83400_b9e2661d18ef2d4b/83400_custom_files/img1629283205.png\"\u003e\u003c/p\u003e\n\u003cp\u003eAlso the tensile strength of Bakelite and Stainless Steel was found to be 50MPa and \u0026nbsp; 243MPa respectively (Table 2 and Table 3). Thus, it can be concluded that both Bakelite and Stainless Steel are within the elastic limits and is completely safe. Both the Bakelite and Stainless Steel has ultimate tensile strength of 62.1MPa and 46MPa respectively at which they fail.\u003c/p\u003e\n\u003cp\u003eAluminium Bronze, Bakelite, and Stainless Steel was found to withstand the normal building fire, since these materials have a melting point of 1190 ̊ C, 1800 ̊ C, 1510 ̊ C respectively which is greater than the normal building fire temperature, ranging from 534 ̊ C to 820 ̊ C.\u003c/p\u003e"},{"header":"Conclusion","content":"\u003cp\u003eThe dual operated firefighting robot was designed and analysed. This proposes a great chance for automation and will be useful at places where humans cannot reach or is dangerous. The operator is able to extinguish fire using remote control from longer distances. Also, the robot can be switched to automatic mode. The robot can sense fire accurately in a short time. This robot can be used at a place that has a small entrance or in small spaces since it has a compact structure. The operator is able to extinguish fire using remote control from longer distance thus it ensures the safety of the operator who operates the robot. The current design overcomes the limitations of transportation of robot from one place to another that is faced by most of the robots available now.\u003c/p\u003e \u003cp\u003eThe structural stability of the robot was found to be in good condition. The von Misses Stress for the entire system is found to be minimum of 1.4215x10-3MPa and a maximum of 2.487MPa. The deformation was at the centre of the structure and maximum deformation was found to be 0.94088mm and a minimum of 0mm. And the strain acting on the robot is minimum 1.3741x10-8 to a maximum 5.6752x10-4. The entire robot was found to be thermally stable and will not get damaged in a fire incident.\u003c/p\u003e \u003cp\u003eActuation Delay Time (ADT) of the extinguisher was found out to be less than 1 second. The slope of extinguisher various spraying position was found out by trial and error method and a slope of 50 ̊ was selected. The robot was tested to climb slopes, and it was found to climb a maximum slope of 40 ̊.\u003c/p\u003e"},{"header":"Abbreviations","content":"\u003cp\u003eUSAR: Urban Search and Rescue; ADT: Actuation Delay Time .\u003c/p\u003e"},{"header":"Declarations","content":"\u003cp\u003e\u003cstrong\u003eAcknowledgement\u003c/strong\u003e\u003c/p\u003e\n\u003cp\u003eThe authors thankfully acknowledge our guide, Er. Manoj Balakrishnan, Assistant Professor, Department of Mechanical Engineering, for his valuable guidance, support and encouragement during the course of the project work and in the preparation of the manuscript.\u003c/p\u003e\n\u003cp\u003e\u003cstrong\u003eAuthors\u0026rsquo;\u0026nbsp;contributions\u003c/strong\u003e\u003c/p\u003e\n\u003cp\u003eAll the authors contributed equally in the fabrication ,design and analysis of the robot.\u003c/p\u003e\n\u003cp\u003e\u003cstrong\u003eFunding\u003c/strong\u003e\u003c/p\u003e\n\u003cp\u003e\u0026nbsp; \u0026nbsp; nil\u003c/p\u003e\n\u003cp\u003e\u003cstrong\u003eAvailability\u0026nbsp;of data and materials\u003c/strong\u003e\u003c/p\u003e\n\u003cp\u003eThe\u0026nbsp;data\u0026nbsp;and\u0026nbsp;source\u0026nbsp;code\u0026nbsp;used\u0026nbsp;to\u0026nbsp;support\u0026nbsp;the\u0026nbsp;findings\u0026nbsp;of\u0026nbsp;this\u0026nbsp;study\u0026nbsp;are\u0026nbsp;avail-\u0026nbsp;able\u0026nbsp;from\u0026nbsp;the\u0026nbsp;corresponding\u0026nbsp;author\u0026nbsp;upon\u0026nbsp;request.\u003c/p\u003e\n\u003cp\u003e\u003cstrong\u003eCompeting\u0026nbsp;interests\u003c/strong\u003e\u003c/p\u003e\n\u003cp\u003eThe\u0026nbsp;authors\u0026nbsp;declare\u0026nbsp;that\u0026nbsp;they\u0026nbsp;have\u0026nbsp;no competing\u0026nbsp;interests.\u003c/p\u003e\n\u003cp\u003e\u003cstrong\u003eAuthor\u0026nbsp;details\u003c/strong\u003e\u003c/p\u003e\n\u003cp\u003eThe authors belongs to Department of Mechanical Engineering,Saintgits College of Engineering,Kottayam,Kerala,India.\u003c/p\u003e"},{"header":"References","content":"\u003col\u003e\u003cli\u003e\u003cspan\u003eYoshihiro Tamura1, Hisanori Amano and Jun Ota (2020) Analysis of firefighting skill with a teleoperated robot Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo 113\u0026ndash;8656, Japan\u003c/span\u003e\u003c/li\u003e \u003cli\u003e\u003cspan\u003eSoheil Habibian1, Mehdi Dadvar1, Behzad Peykari1, Alireza Hosseini1, M. Hossein Salehzadeh1, Alireza H. M. Hosseini1 and Farshid Najafi (2021) Design and implementation of a maxi\u0026ndash;sized mobile robot (Karo) for rescue missions University of Tehran, College of Engineering, School of Mechanical Engineering, Tehran, Iran\u003c/span\u003e\u003c/li\u003e \u003cli\u003e\u003cspan\u003eJoshua G, McNeil, Brian Y, Lattimer V, Tech, Blacksburg, Brian Y, Lattimer J, Hughes, Baltimore (2016) Robotic Fire Suppression Through Autonomous Feedback Control Fire Technology \u003cspan class=\"ExternalRef\"\u003e\u003cspan class=\"RefSource\"\u003e10.1007/s10694-016-0623-1\u003c/span\u003e\u003c/span\u003e\u003c/span\u003e\u003c/li\u003e \u003cli\u003e\u003cspan\u003eZhu J, Li W, Lin D, Cheng H, Zhao G (2020) Intelligent Fire Monitor for Fire Robot Based on Infrared Image Feedback Control Fire Technolo 10694-020-00964-4\u003c/span\u003e\u003c/li\u003e \u003cli\u003e\u003cspan\u003eJeelani, S., et al., Robotics and medicine: A scientific rainbow in hospital. Journal of Pharmacy \u0026amp; Bioallied Sciences, 2015. 7(Suppl 2): p.S381-S383\u003c/span\u003e\u003c/li\u003e \u003cli\u003e\u003cspan\u003eAliff M, Dohta S, Akagi T (2015) Simple Trajectory Control Method of Robot Arm Using Flexible Pneumatic Cylinders. J Robot Mechatron 27(6):698\u0026ndash;705\u003c/span\u003e\u003c/li\u003e \u003cli\u003e\u003cspan\u003eAliff M, D.S., and Akagi T (2017) Control and analysis of simple-structured robot arm using flexible pneumatic cylinders. International Journal of Advanced Applied Sciences 4(12):151\u0026ndash;157\u003c/span\u003e\u003c/li\u003e \u003cli\u003e\u003cspan\u003eAliff M, Dohta S, Akagi T (2014) Control and analysis of robot arm using flexible pneumatic cylinder. Mechanical Engineering Journal 1(5):DR0051\u0026ndash;DR0051\u003c/span\u003e\u003c/li\u003e \u003cli\u003e\u003cspan\u003eM. Aliff, S. Dohta and T. Akagi, Trajectory controls and its analysis for robot arm using flexible pneumatic cylinders,\" IEEE International Symposium on Robotics and Intelligent Sensors (IRIS), 2015, pp.\u0026nbsp;48\u0026ndash;54\u003c/span\u003e\u003c/li\u003e\u003c/ol\u003e"}],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":true,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":false,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":false,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Robot, RC, Automatic, Sensors, Fire Extinguisher, Belt drive, Motor, Relay, Control Unit, Chassis, Battery","lastPublishedDoi":"10.21203/rs.3.rs-805493/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-805493/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eIn this study, a dual operated firefighting robot was designed, fabricated and analyzed. The robot can be operated in both RC and automatic modes. The robot consists of three different types of system units- fire detection system, extinguishing system and communication system. The fire detection system uses flame sensors for detection of fire. The extinguishing unit consists of fire extinguisher cylinder mounted on the robot which can be controlled by the user through a remote. . The fire extinguisher is operated with the help of a relay circuit. The whole set up is controlled and monitored by the main controller or microprocessor. Using a belt drive enables the robot to climb stairs. The main chassis consists of 400mm*390mm aluminum profile. Four motors, each of 60 rpm, are used which provides adequate thrust for motion. The power supply for the functioning of robot is provided by a 12V, 7 AH battery. The compact design of the firefighting robot enables it to enter small or narrow space with ease. More over the dual operation ability of the robot helps to increase the overall efficiency of the robot.\u003c/p\u003e","manuscriptTitle":"Dual Operated Firefighting Robot","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2021-08-19 14:32:56","doi":"10.21203/rs.3.rs-805493/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"f514e251-553a-4290-b00c-40c129a43b48","owner":[],"postedDate":"August 19th, 2021","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[{"id":6571270,"name":"Mechanical Engineering"},{"id":6571271,"name":"Robotics"}],"tags":[],"updatedAt":"2021-09-09T13:28:43+00:00","versionOfRecord":[],"versionCreatedAt":"2021-08-19 14:32:56","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-805493","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-805493","identity":"rs-805493","version":["v1"]},"buildId":"ehx78VzkSd0WSzXnipQa-","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}