Design, Control and Stabilization of a Transformable Wheeled Fire Fighting Robot with a Fire-Extinguishing, Ball-Shooting Turret

In this study, a hybrid wheeled fire extinguisher robot has been created. The two-degrees-of-freedom (DoF) gun turret. To control the disruptive effect of mechanical oscillations on firing system during movement body, PID and SMC controllers are used. When closed flat ground, robot’s five-piece transformable wheel construction allows it to travel swiftly. mechanism opens tough terrain, allowing assume star-shaped configuration enabling ascend by grasping onto obstructions. three-dimensional design firefighter was designed first, followed kinematic model turret Simscape in Matlab Simmechanic environment. Simulations throwing fire-extinguishing balls at locations positioned 20 m 80 horizontal 1–30 vertical distances were carried out for three different scenarios (the is stationary, moving constant speed rotating around itself). simulations resulted shooting success rate 85.71% with 95.23% (for total 105 shots). mistake rates investigated, discovered that constructed usable firefighting.