e-ISSN: 2582-5208

International Research Journal of Modernization in Engineering Technology and Science

Volume:03/Issue:04/April-2021 Impact Factor- 5.354 www.irjmets.com
DESIGN AND FABRICATION OF A FIRE FIGHTING ROBOT USING AA 6063
ALUMINUM ALLOY
Muhammad Parkar *1, Swapnil Sale*2, Soham Chavan*3, Zararahmed Khan*4
*1Ex-Student, Department of Mechanical and Automobile Engineering, Pillai College of Engineering,
New Panvel, Maharashtra, India.
*2Ex-Student, Department of Mechanical Engineering, Vishwaniketan Institute Of Management

Entrepreneurship And Engineering Technology, Khalapur, Maharashtra, India.

*3Ex-Student, Department of Mechanical Engineering, Pillai HOC College of Engineering and

Technology, Rasayani, Maharashtra, India.

*4Professor, Department of Electronics and Telecommunication Engineering, Anjuman I Islam

Kalsekar Technical Campus and Technology, New Panvel, Maharashtra, India.

ABSTRACT
Fire Extinguishing is a hazardous task and has resulted not in the death of civilians but fire fighters as well. This
paper describes the design of a track belt driven remote operated fire fighting robot to either extinguish small
scale fires without any human involvement or accompany firemen in curbing large scale fires. The Robot
developed and designed here is an alternative to the existing technology as being more mobile, cheaper, lighter
in weight and having easy access through smaller areas like doors and passageways. The model was designed
and analyzed with solid works and also implemented on hardware.
Keywords: Fire Fighting Robot, Thermal Imaging, Cost Efficient, Lightweight, Track Belt.
I. INTRODUCTION
Metagenomics is a recently-born and highly popular field that studies fire related incidents which have become
quite common around the world and is still growing extensively by the day [1]. Some reasons for such incidents
occurring are due to burning of combustible materials or fuels, forest fires, gas leakages etc. Fire fighters risk
their lives to fight these fires and extinguish them but many times in the process end up losing their lives
especially when the severity of the fires is very high. This death may either be due to burn injuries, suffocation,
or heart attacks. Therefore, this robot was designed considering the existing dangers present in this occupation
and reduce damage caused to life and property [2].

The Fire fighting robot designed here aims at overcoming the difficulties faced by the conventional technologies
i.e., entering confined spaces or passageways and being heavier thus reducing mobility. For efficient operation,
the robot is hence limited to 500 x 300 x 200 cm with an operational speed of 1.5-2 m/s. It is equipped with a
nozzle, clamped to the upper block of the robot, and is controlled by the actuator. The upper block is hinged at
the rear end. The body is made from Aluminum and a high-grade insulator is used to shield the inner electrical
and mechanical components form the high temperatures of the fire. For detecting the fires, a Thermal Camera is
used to detect heat signatures and distinguish fire from smoke. Overall, the entire robot is powered by 24V Acid
battery.

There are a wide variety of prototypes and robots which have implemented the idea of mobile fire fighting
equipment with the aim of either replacing human involvement or just aiding in extinguishing fires [3].

The concept of using a completely autonomous robot to extinguish fire using two separate extinguish cylinders
was introduced by the researchers AlHaza, Alsadoon A, Alhusinan Z, Jarwali M, Alsaif K wherein a robot with an
outer coating of Ag (so that it could easily sustain temperatures up to 700˚C) was used [4]. The design was
conceptualized such that it could change the wheel position, the fire could be detected by flame detection
sensor, and three Infrared sensors are used to give an easy movement of robot through obstacles. The
firefighting robot developed by MakhareSonal, Mane Bharat, SapkalSaraswati, Prof.V.U.Bansu uses the method
of pumping water from a storage unit through a hose on to the fire [5]. The robot is autonomous and uses
smoke, infrared, temperature sensor as to detect fire and the real time data sharing is done by an android
mobile to a dedicated server so that the data can be read and if any additional action required, can be taken.

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International Research Journal of Modernization in Engineering Technology and Science
Volume:03/Issue:04/April-2021 Impact Factor- 5.354 www.irjmets.com
II. METHODOLOGY
The design of the project is divided into single components where each component is designed or selected
individually depending on various parameters [6]. Various parameters like the forces acting, the required
length, torque etc is calculated and then on the basis of such parameters, the required components are
determined or designed. The entire robot is basically divided into two block assemblies. The lower block which
holds the motors, linear actuator, electronic components and the battery is provided with a chassis for
increased strength. The upper block is made to hold the nozzle and it moves with the help of the linear
actuator. The track belt is driven by the motor which drives the robot on any surface.

Fig:1 3D Model on Solid Works

The Figure:1 depicts the 3D Model of the Fire Fighting robot design in Solid Works with considering the
parameter mention in the design model. The objective of this project was to design a robot for small scale fires.
Hence, the flow rate requirement of nozzles was limited to 400LPM and the dimensions of the robot to 60 x 60 x
60 cm.The nozzle used in the robot is a smooth bore nozzle. The main criteria for its selection is its application
at low pressures. Since the robot will be using water supply through hose pipes of any residential or
commercial buildings fire fighting unit the pressure through the hoses will be less. Moreover, These nozzles
have less reaction force. Considering that they will be used in small accessible areas its spray range is 10m. The
Range to be calculated is given by the equation (1).

----------------(1)

For θ=45 degrees, velocity = 9.90 m/s, Factor of safety = 1.2

Velocity of the Nozzle outlet (V2) = 1.2 x 9.90 = 12 m/s (Approx.)

Discharge of the Nozzle (Q) is given by equation (2)

A1 x V1= A2 x V -----------------(2)

For 400LPM and 12m/s velocity the bore diameter is derived from this equation to be 20mm.Hence the
specifications of the nozzle are 63-20mm.

The nozzle reaction force is calculated by the equation (3)

NR = 1.57 x D2 x NP, -----------------(3)

where NP is the Nozzle pressure which is given by the equation (4)

NP= [LPM/29.71 x D]2, -----------------(4)

For 400LPM and bore diameter 20mm Nozzle reaction force is calculated to be 143.47N
The robot is designed keeping in mind its weight must be reduced considerably to easy movement of the entire
robot. Hence, the drag force also needs to be balanced by the weight of the robot i.e. the minimum weight of the
robot needs to be fulfilled.

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Fig:2 FBD of the Robot

The design analysis for the robot is shown in Fig :2 which helps to analyze the Free Body Diagram of the system
Designed. As seen from the forces acting on the robot, considering μ = 0.4 - 0.6, NR=143.47 , θ=45. From the
equation (5) the mass obtained is 25 Kg
------------(5)

A linear actuator is used in the front side of the robot. This actuator lifts the front end of the nozzle and gives it
necessary angular deflection. The minimum weightlifting capacity of the nozzle is derived from the equation
(6). At NR= 143.47N we will get the value of Ma=12Kg.

-----------------(6)

The rectangular block which acts as the base block of the robot holds all the electronic components, motor,
actuator, and the wheels. The upper block is hinged to this base block. Hence, the base block must be designed
strong enough to hold the entire robot. The dimensions of the block are 500 x 350 x 200 mm and is supported
by an aluminum chassis. Aluminum is used because of its high melting point, low density, low corrosion rates
and its low cost. The most important parameter being that aluminum has a specific heat capacity range of 816-
1050J/kg. , which implies that aluminum would be relatively slower to heat. Moreover, its thermal conductivity
is 205W/mk. Hence for these purposes 6063 Aluminum alloy is selected for designing the base block. Ceramic
fibers are used as insulating material inside the robot to protect it from high temperatures of the fire. Good
thermal stability, high temperature resistance, low thermal conductivity and its lightweight are the reasons
why ceramic fibers are used.

The robot is also equipped with a thermal imaging camera. Its main function being detecting heat signatures
i.e., fires in dark areas or through smoke. The input rated voltage of a 300 RPM gearbox DC motor is 12v. But
the linear actuator requires operating voltage of 24V to perform efficient. Hence, to avoid using two different
batteries of 12V each a 24V Lead Acid battery is used to power the robot.

The robot moves using the traction belt. The traction force i.e., the torque is calculated using the equation (7)
which is used to drive the robot. For radius of the wheel is 7cm. Torque = 77.42 Kg-cm.
Torque = Ft x Radius of the wheel, ----------(7)

Considering loses due to deformation of the belt over usage torque is rounded off to 80.291kg-cm. The chain
drive is used to transfer power from the motor to the rear pulley and should be designed for this output torque.
The length is calculated to be 494.83mm.
III. FIELD TEST

Fig.-3: Working Prototype.

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Volume:03/Issue:04/April-2021 Impact Factor- 5.354 www.irjmets.com
The model was designed as shown in the Figure:3 And it is used as working prototype for the analysis of the
model. After the robot is designed and analyzed the sustainability of the robot is checked under working
conditions for both its physical operation and temperature sustainability[7]. The robot is kept in a furnace
where the temperature is increased to 3000C Degrees in steps gradually. Once the temperature is reached
further heating is stopped and the temperature is maintained. The robot is placed inside for an hour in the
same environment[8]. This is done to expose the body and its components to prolonged period of heat to see
whether they remain functional or not. After testing the robot's adaptability to high temperatures its working
mechanisms is tested i.e., its output speed, RPM, and communication signal strength. Speed is tested by using
Laser Tachometer and is tested for minimum 300RPM at the output. It was found that the water would reach
maximum 8 meters. There is a lag of 3-5 seconds in the communication signals due to the prolonged
temperature conditions. Finally, the robot was operated until its battery is completely drained out to test the
maximum operating capacity in a single charge.
IV. RESULTS
After performing the field test the following observations were made. The temperature that the robot can
withstand without any damage to its components is 300ºC. The nozzle has a maximum angle of inclination of 60
degrees. The maximum distance covered by the water jet nozzle is 8 meters. The speed of the robot was tested
to be around 300RPM.
V. CONCLUSION
A problem regarding risk of human life involved in fire fighting process in the compact areas can be reduced by
implementation of robotics in this process. Fire fighting robot designed can be used for the same purpose with
no compromise with the human life. This robot can provide a better alternative for a fire fighter with more
efficient operative capacity. Along the better efficiency the low cost of the robot can play a major role in its
availability in many places. Due to its working capability, easy availability as well as its adaptability to existing
systems makes it the best option for fire fighting in various areas without any risk of human life.

VI. REFERENCES
[1] Celentano, L., F. Garofalo, B. Siciliano, and L. Villani. 2004. A fire fighting roboticsystem for road and
railway tunnels. IEEE International Workshop Safety, Security, and Rescue Robots.
[2] Celento, L., B. Siciliano and L. Villani. 2004. Design Issues for a "Fire-Fighting Roboton Tunnel
Intervention. International Conference on Mechatronics and Robotics".
[3] Celento, L., B. Siciliano and L. Villani. 2005. A Robotic System for Fire Fighting inTunnels.
IEEEInternational Safety, Security and Rescue Robotics, Workshop :253-258.
[4] New concept for indoor firefighting robot by AlHaza, Alsadoon A, Alhusinan Z, Jarwali M, Alsaif K.
(Published 2015 by Elsevier Ltd.).
[5] Firefighting Robot (Published 2017 by IRJET) by Makhare Sonal, Mane Bharat, SapkalSaraswati,
Prof.V.U.Bansude..
[6] DeWITT, David P., and Frank P. Incropera, eds. 1996. Fundamentals of Heat and MassTransfer. Canada :
Wiley & Sons, Inc. European Space Agency (ESA). 2007. Spacecraft Thermal Control.
[7] Flynn, Anita M., Joseph L. Jones, and Bruce A. Sieger, eds. 1998. Mobile Robots:Inspiration to
Implementation. Massachussets : A. K. Peters Ltd.Fortescue, Peter, John Stark, and Graham Swinerd,
eds. 2003.
[8] Spacecraft SystemsEngineering. Canada : Wiley & Sons, Inc. Garcia-Cerezo, A., A. Mandow, J. L. Martinez,
J. Morales, and S. Pedraza. 2004.

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