Kinematic analysis of fire-fighting robot under the impact of waterflow recoil force

In this paper, dynamic modeling of a tracked mobile robot for fire-fighting is addressed. The impact of recoil force produced by the working fire monitor on the robot motion and stability is studied, with consideration of the effect of the fire monitor´s jet velocity and orientation (pitch and tilt angles). The critical conditions for slipping and tipping-over of the robot in fire-fighting are analyzed. The effectiveness of the presented dynamic model and analysis is verified by simulations. The results are helpful in the design and control of tracked mobile fire-fighting robots.