To protect the personnel of the intervention units operating in high-risk areas, it is necessary to introduce (autonomous/semi-autonomous) robotic intervention systems. Previous studies have shown that robotic intervention systems should be as versatile as possible. Here, we focused on the idea of a robotic system composed of two vectors: a carrier vector and an operational vector. The proposed system particularly relates to the carrier vector. A simple analytical model was developed to enable the entire robotic assembly to be autonomous. To validate the analytical-numerical model regarding the kinematics and dynamics of the carrier vector, two of the following applications are presented: intervention for extinguishing a fire and performing measurements for monitoring gamma radiation in a public enclosure. The results show that the chosen carrier vector solution, i.e., the ground vehicle with six-wheel drive, satisfies the requirements related to the mobility of the robotic intervention system. In addition, the conclusions present the elements of the kinematics and dynamics of the robot.

中文翻译：

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六轮地面车辆紧急干预行动的动态运动分析

为了保护在高风险地区运营的干预单位的人员，有必要引入（自主/半自主）机器人干预系统。先前的研究表明，机器人干预系统应尽可能多才多艺。在这里，我们集中于由两个向量组成的机器人系统的思想：载体向量和操作向量。所提出的系统尤其涉及载波向量。开发了一个简单的分析模型，以使整个机器人组件具有自主性。为了验证关于载体矢量的运动学和动力学的分析数值模型，提出了以下两个应用：扑灭大火的干预措施和在公共围场中进行测量以监测伽马辐射的方法。结果表明，所选择的载体矢量解，即具有六轮驱动的地面车辆，满足了与机器人干预系统的移动性相关的要求。此外，结论还介绍了机器人的运动学和动力学要素。