Frag Out! Magazine

the specific requirements of end-user. For this purpo- se, different kinds of the chassis, drive system, power supply, communication modules, etc. might be used. The second level of the modularity concerns directly a user who can independently configure the RMI, tailo- ring the equipment to the specific task. These might be selected from the entire range of the additional equipment as gripping devices, arm manipulators, sensors (e.g., sensors of contamination, radiation, explosives, etc.), pyrotechnic guns (the latter are to be replaced by the shotgun used as a device for neutrali- sation of the suspected objects). Besides, a robot can have assembled an X-Ray device and directional mi- crophones. All mentioned devices can be quickly con- nected to the RMI through the integrated connection interface which sockets are localised near equipment attachment points. All works as simply as possible – just plug and play. The PIAP RMI is tracked propulsion vehicle which mi- ght be used in various terrain and environment inc- luding off-road drive. It consists of two drive wheels, two idlers and two carriages (each with two wheels), as well as rubber tracks. It is characterised by a small mass obtained thanks to an application of the relevant materials and an openwork wheel design. The idlers are equipped with spring tensioners which adjust a tension of the tracks to the terrain and speed which a robot moves. A wheels and steering system is an independent in-house development of PIAP It is con- structed so that it is less sensitive to the disturbance in its functioning by the objects which can get between the wheels and tracks. The wheels and steering system is assembled to the body where most of electronic circuits of the robot, power packs and a drive system are installed. The body is set relatively low, what in the conjunction with pla- cing in it the heaviest sub-assemblies results in lowe- ring a gravity centre and ensures a stabile base to the rotating platform and equipment installed on it. It also has a crucial impact on the off-road performance of the RMI which is able to move through the harsh ter- rain without risk of rolling over. In the corners of the body there are for drag handles (RMI can be easily car- ried by two) and its assembling during transporting in the vehicles. Driving lights and four outline came- ras (directed inversely to the illumination and driving direction) which greatly improve driving a robot in the narrow spaces were integrated into the drag handles. The outline cameras are a supplement for the driving cameras on the special vehicles, which are placed in the centre of the front and rear wall of the body. The basic device of the RMI is a robotic arm manipu- lator placed on the rotary platform with five degrees www.fragoutmag.com

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