Design and Fabrication of a Novel Gripper Wheel based All-Terrain Differential-Driven Unmanned Landmine and Metal Detector Robot Vehicle

Abstract

This article presents the remote-operated all-terrain differential-driven four-wheeled unmanned Landmine and Metal Detector Robot Vehicle (LMDR) to assist the defence people during search operation on the unknown terrain. The metal detector sensor is installed on the bottom side of the chassis of LMDR to detect the presence of metals and landmines on the ground. After identifying any metal on the ground, the metal detector sensor sends the signal of the presence of metal or landmine to the operator. The LMDR consists of four heavy-duty DC geared motors, two dual DC motor drivers, specially designed driving wheels, mechanical chassis, Arduino UNO microcontroller, Bluetooth module, metal detector sensor and rechargeable Lithium-Polymer (LiPo) battery. The DC motors connected with a motor driver and microcontroller to control the linear and angular velocities of the LMDR through the Bluetooth signal from an android phone. The specially designed mechanical chassis and driving wheel arrangement help the LMDR to travel in any terrain, including stair climbing. Further, the kinematic analysis of the LMDR has been presented. 2D and 3D designs of the LMDR using Solidworks, a physical model of the LMDR, and its various components are also presented. Furthermore, real-time experimental tests have been carried out on the developed LMDR during the metal detection process on the ground to prove the merit and superiority of the developed unmanned LMDR.