Technical Paper

Team telerob telemAX

telerob - telemAX

Dr. Andreas Ciossek

Telerob Gesellschaft fr Fernhantierungstechnik mbH
Vogelsangstrasse 8
D-73760 Ostfildern, Germany

Abstract:
The telemAX is an easy to use, small and versatile remote controlled vehicle designed to be
operated by bomb disposal engineers. It is best suited for operation in narrow spaces like on
planes, underground trains and coaches. The 4-track running gear system displays superior
mobility. It can easily cope with inclines of 45, overcome obstacles measuring up to half a
metre in height or 600 mm wide gaps in the surface. It is the worlds first EOD robot that
features TCP-Control of its manipulator.

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1 The Team
To develop machines, equipment and systems that protect or replace human beings in
situations where their presence would be either impossible or place them at great risk.
This is the motto, motivation and mission of telerob Gesellschaft fr Fernhantierungstechnik
mbH. Whether its one of our Master- Slave Manipulators being used to dismantle a nuclear
facility or an EOD robot being used to disarm a dangerous explosive device, protecting
people and their surroundings is always our paramount concern anytime one of our products
is deployed.
Our engineers and specialists in the fields of electrical engineering, electronics and precision
mechanical engineering combine creativity and competence in the quest for advanced
solutions in the worlds of bomb disposal and remote handling technology.
The telerob range of products encompasses EOD robots (tEODor and teleMAX ), completely
equipped bomb disposal vehicles (TEL600), bomb disposal equipment, non-magnetic special
tools (NOMATOOLS), as well as manipulators for servicing, maintaining and dismantling
nuclear facilities (EMSM).
A highly qualified, highly motivated staff provides our worldwide client base not merely with
innovative products developed and manufactured in accordance with the very highest
standards but also with the training and instruction needed to ensure their effective use.
telerob is an official NATO supplier and development partner (NATO supplier code: C 5152).
Furthermore we conform to the requirements of AQAP 2130.

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Figure 1: The telemAX

2 The telemAX
2.1 Less is Sometimes More
This adage applies particularly to operations which have to be carried out in narrow spaces.
Anywhere where the tEODor cannot operate, its little brother the telemAX (see Figure 1 and
Figure 2) will make sure that the vital distance is maintained between the bomb disposal
engineer and the bomb, for example, on planes, underground trains and coaches.
Highlights:
Programmable manipulator arm with tool centre point control
Excellent mobility thanks to four-track running gear
7-Axis manipulator with turret and linear axis
Outstanding reach owing to the telescopic arm and height-adjustable chassis
Tool changing system
Full functionality (dismantling and manipulation) at maximum height extension
Deploying Aquaset, RE70 and shot gun

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Figure 2: Running gear.

2.2 The Running Gear

This is the first time a vehicle of this size has been equipped with a 4-track running gear
system (see Figure 2). Compared to all other types of running gear, it displays superior
mobility. For example, it can easily cope with inclines of 45 or 100%. Obstacles measuring
up to half a metre in height can be overcome without difficulty, as can 600 mm wide gaps in
the surface. Separately suspended and spring-mounted, each running gear units can be
operated individually, in pairs, or all at once. At the touch of a button, an intelligent control
system presets the running gear configuration to match the given situation. This makes the
operators task much easier, especially when the vehicle has to negotiate a narrow stairwell,
for example, or high steps.
Incline sensors ensure that the telemAX always maintains its equilibrium. Slopes and uneven
surfaces can be compensated for in every conceivable direction, transforming the vehicle into
a stable platform. If a top speed of 3,7 km/h with all four tracks in operation is not enough, the
wheeled variant runs along at a brisk 4,7 km/h (continuously variable). The wheels can be
easily mounted to the drive axel in a matter of minutes.

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2.3 The Manipulator

In order to appreciate the remarkable advantages
of the telemAX manipulator, it is important to
take a quick look at how conventional EOD
robots work. When using one of these,
approaching a suspicious object with the
manipulator involves moving along multiple
individual axes, each of which must be selected
by pressing a button.
By contrast, the telemAX is little short of
revolutionary. It is the worlds first EOD robot
that features TCP-Control. TCP refers to an
imaginary tool centre point or stated more
simply the gripper or disrupter. This imaginary
point in space is approached by simultaneously
moving a thumb and index finger joystick. The
intelligent control system automatically
computes the axes necessary for attaining the
desired target point.
What does this mean for the bomb disposal
engineer? First and foremost, he save precious
time and the more complicated the route to the
suspicious object, the more time he saves.
Moreover, the vehicles integrated robot control
system offers other major advantages: it is fully
programmable. This way, routine manipulator
movements or running gear positions can be
learned, stored and called up by the operator
whenever required.
The telemAX is the only vehicle in its class to
have two tool magazines integrated in the
chassis. This means that up to two additional
tools or weapons can be carried on an operation,
eliminating the need to return to base to pick up
new equipment. Once again, the Sdfsdsdcsdscds
operator saves
valuable time, permitting him to concentrate on Figure 3: The manipulator.
the actual task at hand. At the touch of a button,
the manipulator arm automatically withdraws an
extra tool from the magazine.

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Figure 4: The control console

2.4 The Control System

A laptop-sized control console controls the vehicle (see Figure 4). Movement of the vehicle
and the manipulator is controlled using an ergonomically designed thumb-finger-joystick unit.
The operator can directly communicate with the system via a touch screen whose control
surface changes to match the current situation, displaying all relevant control elements.
Signals from the five colour cameras are displayed on a foldable 10.4 monitor; a picture-in-
picture function allows the situation to be monitored from two different perspectives.
The control console and the transmitter / receiver unit are separately stored in a robust Peli
case. The control station can be easily set up anywhere. Fitted to a carrying frame, the two
cases can be quickly turned into a fully portable system. This means that a lone engineer can
carry out operations in confined spaces.

2.5 Other Important Characteristics

2.5.1 Safety Clutches
Built-in safety clutches prevent overload of the mechanical assemblies and possible damage
of the respective motor gearbox units. When a safety clutch is triggered, e.g. after inadvertent

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collision with an obstacle, the manipulators position is automatically recalculated and the
system is ready for operation again.

2.5.2 Firing Circuit Safety System

The telemAX is the equipped with the same tried-and-tested firing circuit safety system as the
tEODor. Several processors are always involved when preparing to fire a round, thus
preventing inadvertent firing. They automatically block each other if the prerequisites for
firing are not met. Thus, a malfunction on the part of one processor will not result in a round
being fired.

2.5.3 Telescopic Upper Arm

Just like its big brother tEODor the telemAX is equipped with an additional linear axis. This
extends the systems reach while keeping it compact and easy to transport. Moreover, it
makes it much easier to set objects down. This is a big help in positioning a disruptor, for
example, or when inserting a key into a lock or for operating underneath a car.

2.5.4 Diagnostic System

The telemAX features the same diagnostic system as the tEODor. Making an important
contribution to ensuring long-term operational readiness, the control unit is able to display the
full range of system statuses on a laptop monitor. If malfunction occurs, a trained operator or
a telerob service engineer can locate the defect based on the data displayed and take
immediate corrective action. For a remote diagnosis, this service is also available via the
internet.

2.5.5 Built-in-Test
When the main switch is activated the system always conducts an inertial self-test. Essential
internal communications functions are automatically checked, as is the status of the system.
The vehicle is not cleared for operation until all safety-related checks have been successfully
completed. This prevents the deployment of any system which is not fully functional.

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3 References

Telerob Gesellschaft fr Fernhantierungstechnik mbH

Vogelsangstrasse 8
D-7376 Ostfildern, Germany
telerob@telerob.de
www.telerob.de

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