Design of Mobile Manipulator for Fire Extinguisher Testing. Part II: Design and Simulation

TL;DR

This paper details the design and simulation of a mobile manipulator aimed at testing fire extinguisher effectiveness, aligning with international standards, to improve firefighting safety and extinguisher quality assessment.

Contribution

It introduces a novel mobile manipulator design specifically for fire extinguisher testing, including detailed mechanical and control system design based on relevant standards.

Findings

Design successfully simulates fire extinguisher testing scenarios

Mechanical and control systems are optimized for accuracy and safety

Framework supports future real-world implementation

Abstract

All flames are extinguished as early as possible, or fire services have to deal with major conflagrations. This leads to the fact that the quality of fire extinguishers has become a very sensitive and important issue in firefighting. Inspired by the development of automatic fire fighting systems, this paper presents a mobile manipulator to evaluate the power of fire extinguishers, which is designed according to the standard of fire extinguishers named as ISO 7165:2009 and ISO 11601:2008. A detailed discussion on key specifications solutions and mechanical design of the chassis of the mobile manipulator has been presented in Part I: Key Specifications and Conceptual Design. The focus of this part is on the rest of the mechanical design and controller de-sign of the mobile manipulator.