Grizzly-1 EOD Robot

Purpose, Technical Characteristics and Description

The electrically powered remote controlled EOD robotic vehicle is constructed and proposed for anti terrorism activities such as:

• Removal of explosive devices from public areas,
• Removal and destruction of various unattended packages and or baggage at airport terminals, movie theaters and others similar locations,
• Removal of chemical and other aggressive compounds/substances,
• Removal of poisonous compounds/substances,
• Removal of radioactive compounds/substances.

The DOK-ING GRIZZLY-1 EOD Robot is constructed of quality 3mm thick steel plating and is powered by two independent drive electro motors with chain transmissions to three wheels on each side. The power source consists of two ecologically acceptable “Optima” gel batteries with a capacity of 100 As, that can be augmented during usage with a petrol powered electro generator that can be easily fitted to and removed from the vehicle.

DOK-ING GRIZZLY-1 EOD Robot

The 6 wheel-propelled GRIZZLY-1 EOD Robot is specially designed for removal of materials hazardous and dangerous to people and property. The working principle is based on two grippers, providing highly reliable EOD/IOD mine clearance. The machine is remotely controlled from an armored vehicle or from a safe distance. It is operational within a temperature range of –5o to +40oC.

GRIZZLY -1 consists of the following components:

1. CHASSIS
2. Manipulator (arm – gripper)
3. Control Console
4. Generator
5. Video System

GRIZZLY-1 EOD Robot main components

1) The CHASSIS is an independent construction made from welded steel plating and containing the engine, the controller, power sources (batteries), manipulator base and forward gripper (P1).

The drive and control functions are made through two independent electro motors that transfer their power via chains and chain pulleys (V1) separately to the left side and right side wheels.

Energy from the batteries is controllably directed to the electro motors via the controller (processor box) (C1) to drive the vehicle. Processors in the processor box protect the regulating electronics from overloads and control the movement of the manipulator and arm grippers during the machine’s driving.

Chassis

2) The MANIPULATOR arm is used for executing various operational tasks including snatching and transporting dangerous materials and UXO/EOD/IOD.

It consists of:

1. The base (1), which is used for the gripper’s horizontal rotation around the vehicle’s vertical axis.
2. Shoulders (2) that fasten the manipulator arm extension and enable vertical movement/bending.
3. The extension (3) allowing extension/lengthening of the manipulator arm by 460mm thereby allowing greater reach.
4. The rotation (4) of the gripper enables the increase of operational and manipulative capacities of the latter.
5. The joint (5) of the gripper allows for grasping items at an angle.
6. The gripper (6) is used to grasp/snatch items.

Manipulator Arm

3) The CONTROL CONSOLEis used to operate the EOD Robot and consists of two major parts: a) Portable Consoleandb) Control Unit.

EOD Robot Control Console

The Control Console of the EOD Robot is fastened with a belt around the waist of the operator so as not to interfere with work.

Regulating electronics

The assembly of regulating electronics is positioned in the rear of vehicle and consists of a Processor Box (a) and Control Console (b). It consists of 3 processors required for operation and control of the machine. It performs 10 H-bridge and 12 ON/OFF functions.

Assemblies of regulating electronics
a – Processor Box
b – Control Console

Control Console

The Control Console is used to operate the machine and consists of a Portable Console and Control Unit. It has an alphanumeric screen, which displays the machine’s current status and functions performed.

Operation of the GRIZZLY-1 EOD Robot is controlled by two synchronized integrated processors that can halt all performed functions in order to prevent damage to the assemblies.

Inside the box is a transmitter with variable power output, receiver for feedback information and battery. A self-testing system warns the machine operator about possible malfunctions by means of tone signal.

Display reading and controls:

Screen of Control Console

Portable console

Remote control of the GRIZZLY-1 EOD Robot is accomplished by using the Portable Console. Ergonomic design and light weight enable ease of use. It is made of ABS plastic - durable and shock resistant material. The Portable Console is not waterproof. It must be kept away from rain and other water influence.

For reading status of the buttons and sticks there is a processor built into the joystick. The same processor monitors communications between the Control console and the joystick itself. The communication between them is serial and bi-directional. The control console reads the data coming from the joystick with an approximate frequency of 10000 times per sec., which ensures a quick response and reduction of the possibility of incorrect information (in case of any external interference or EMI, that could influence the accuracy of data new information arrives within a period of 10 us). The portable console has been tested in the most severe working conditions and to-date, no serious problems have appeared.

The console consists of:

1. Two analogue joysticks
2. Ten buttons
3. Safety detection light

Portable Console

Other electronic control devices

Instruments and switches are located on the control panel on the rear of the machine. The layout is shown the picture below.

Control Panel

1 – Emergency stop button

2 – Contact indicator

3 – Voltmeter

Safety characteristics of the remote control functions

The remote control is built as a self-controlled electronic system. It has three processors. Each processor has a different function (controlling communication, controlling display, measuring system values, etc.). Processors monitor each other’s functionalities and in the case of any error occurring, the system will be immediately stopped. This protects electronics from any external electromagnetic (EMI) influences. Communication is built on 434 MHz with error-free stream protocol. If there is an error in a communication word (communication disturbance by another transmitting source), the system will be stopped in 100ms. The joystick is also controlled by a processor. Information from the joystick to command console is coded and data-protected. Incorrect data code is extremely unlikely. The Portable Console is not waterproof. It must be kept away from rain and other water influence. The Processor Box in the machine is water and vibration proof. Wires are protected against heat and mechanical damage by protection tubes. The operating temperature range is -20°C to +100°C.

Fuses

On the side of the electronics box is a set of electrical fuses that protect the electrical system from overload. Each electrical circuit is protected by a separate fuse.

Built in Test (BIT)

The electronics system is designed to be as simple and compact as possible, but at the same time to be able to control the precision and the functionality of the EOD system in order to protect the machine operator and the area around which the machine is operated. Most of the control is handled by software that measures vital functions of the machine through suitable sensors. In the event of a serious error, EOD will be shut down. Measurements are taken on average 1000 times per sec. In order to reduce the possibility of errors, the system does not possess software control over the machine elements’ precision. The degree of protection for each element is proportional to the importance of its role. The system’s active protection includes voltage checking. The small passive electronics element will reset the system in the event of incorrect voltage. The processors monitor each other and also have an internal watchdog timer that will reset the system within 60 mS in the event of a software crash due to some external influence (EMI). The accuracy of the output signal is ensured by a multilevel control of the output itself. Firstly, there is a checking of data release, after which the power is released into the system, the correctness of the power is checked and only then is information sent to the buffer. Further information is taken by the output transistor, which is able by itself to verify the correctness of its own scope and act accordingly.

Communication

The communication between the Control Console and EOD Robot is wireless and bi-directional. Standard serial communication is used. The command word includes an appropriate header, data word and CRC check. The machine is able to receive about 200 complete words per sec. In the case of any interference, the regulating electronics will ignore incoming commands and will not take any action. If within a period of 100 mS a correct command is not received, the system stops and the operator is notified of a failure of a communication. The return communication is on a different frequency completely independent of the command communication. Processors of the EOD Robot collect data from the system, process it and through the return connection transfer it to the control console. A communication failure in the return connection will not be registered and cannot influence the control of the system.

Software design

Software is designed separately for every processor in accordance with the functions and role that every single processor performs. An assembler is utilized as a compiler on the lowest level in order to avoid any potential errors caused by a compiler itself. The software operates in the multi-tasking mode. Every function is performed without the possibility of self-crash. In case a system is blocked by an outside source influence (i.e. EMI) the watchdog timer will reset the system returning it to a starting position not allowing program execution to be performed in a wrong direction. Functions are analyzed at an average of 20,000 times/sec, being tested on all possible input data.

4)The GENERATORis used for charging of two batteries in drive mode to enable them increasing the Robot’s operational range in remote areas where there is no access to power sources.

Generator

5) The VIDEO SYSTEM includes 4 TV cameras located on the GRIZZLY-1 EOD Robot. By using remote control, one of the TV cameras is selected forwarding a signal as a picture to the operator’s glasses (monitor) via transmitter. The operator conducts video communication with the Robot and surroundings by means of video goggles/glasses (2).

Video System

SHORT STATISTICS

To date 6 GRIZZLY-1 EOD Robots have been produced and purchased by various organizations including:

• The Ministry of the Interior of the Republic of Croatia -3 units,
• ForceWare GmbH, Germany - 2 units,
• DOK-ING d.o.o. – 1 unit.

TECHNICAL CHARACTERISTICSOF THE GRIZZLY-1 EOD ROBOT

1.	Dimensions (L x W x H) mm Transport dimension (Min. Length L1) With arms extended (Maximum Length L2)	1500 x 680 x 900 mm   3100 x 680 x 1400 mm
2.	Max load up of gripper With arms extended Upper Lower	20kg 60kg
3.	Max gripper opening Upper Lower	400 mm 700 mm
4.	Max arm extension	460 mm
5.	Weight	350 kg (without electro generator)
6.	Driven by
	Electro motor	2 x 450 W 24 V
	Battery	OPTIMA
		2x110 Ah 12V
7.	Range (Without electro generator)	1 hour
	Maximum speed	3 km/h
8.	Power transmission	By chain
9.	Data communication	433Mhz
	Video communication	1.2 Ghz

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