Korendiy, Vitaliy, Kachur, Oleksandr, Pylyp, Mykhailo, Karpyn, Roman, Augousti, Andy and Lanets, Olena (2025) Design and kinematic analysis of a robotic manipulator for controlling fire monitors. Ukrainian Journal of Mechanical Engineering and Materials Science, 11(2), pp. 10-26. ISSN (print) 2411-8001
Abstract
Conventional firefighting methods expose personnel to significant risks, particularly in hazardous environments. Robotic systems, specifically manipulators for controlling fire monitors, offer a safer and more efficient alternative by enabling precise delivery of extinguishing agents. However, their effective deployment necessitates a thorough understanding of their kinematic capabilities and limitations. Purpose. This research aims to conduct a comprehensive design and kinematic analysis of a five-degree-of-freedom (5-DOF) articulated robotic manipulator tailored for controlling fire monitors. The study focuses on establishing its foundational kinematic model, evaluating its workspace, and verifying its motion capabilities to lay the groundwork for advanced robotic firefighting systems. Methodology. The research involved the conceptual design of an all-revolute joint manipulator. The kinematic analysis was performed using the matrix transformation method to derive the forward kinematic equations. These equations define the position and orientation of the end-effector (fire monitor nozzle) based on joint variables. Numerical simulations of the gripper’s motion under various predefined joint input scenarios were conducted using Mathematica software to verify the derived equations. Furthermore, the manipulator’s operational workspace and motion were simulated and visualized using SolidWorks CAD/CAE software. Findings (results). The kinematic analysis successfully yielded the transformation matrices and explicit equations for the end-effector’s coordinates. Numerical simulations in Mathematica validated the correctness of these motion equations, demonstrating predictable trajectory generation for different joint inputs. The SolidWorks simulation visually confirmed the manipulator’s kinematic behavior and defined its operational workspace, suitable for targeted fire suppression tasks. The 5-DOF configuration was shown to provide substantial maneuverability for aiming a fire monitor. Originality (novelty). The work provides a detailed kinematic characterization and simulation-based validation of a specific 5-DOF manipulator configuration intended for fire monitor control. While building on established robotic principles, its novelty lies in the focused application and detailed kinematic groundwork for this specific firefighting task, bridging the gap between general manipulator theory and the practical requirements of fire monitor operation. It offers a foundational model that can be leveraged for more complex, dynamic, and control system designs in firefighting robotics. Practical value. The research provides essential kinematic data and a validated model crucial for the design and development of effective robotic firefighting systems. The findings can inform the engineering of manipulators capable of precise and agile fire monitor control, leading to improved firefighter safety, enhanced operational efficiency in hazardous environments, and more effective fire suppression through accurate delivery of extinguishing agents. Scopes of further investigations. Future research will focus on dynamic modeling to account for link masses, inertias, and jet reaction forces; development of robust control systems; integration with perception systems (e.g., thermal cameras) for autonomous operation; coupling with jet trajectory models for enhanced accuracy; structural optimization for harsh environments; and experimental validation with a physical prototype.
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