Design of Demining Machines

  • Dinko Mikulic


The project requests are set for demining machine design, operating conditions, mobility, transport, performance, remote control, endurance, soil digging density, protection, reliability, maintainability, documentation requirements, and testing requirements. As a result a design of light, medium and heavy demining machines is offered. Calculation is given for machine working conditions, movement resistance and soil digging resistance, the needed force and power for digging the soil. This includes the diagram of resistance force and hammer impulse force in correlation with flail rpm and tool shear. For specific depths of 10–20 cm respectively, specific power to a meter of rotor length is calculated, as well as total flail strength for processing soil of specified category. On grounds of machine movement resistance values and machine work, required engine power is determined, and finally the components of hydrostatic transmission are suggested. The output is a machine concept with two flails and a combined machine concept with flail and tiller. Its features of soil digging and neutralization of AP and AT mines are determined, as well as mine destruction reliability. Since machines often need to perform in toughest climatic and thick dust conditions, what was considered was a design of engine and transmission oil cooling system, together with air filter. Through machine acceptance assessment in real demining conditions, certain dilemmas over machine shaping, with flail, tiller and rollers, were cleared out. A vision of demining machines was suggested in its developing guideline: tele-demining machines and diesel-electric demining machines in ecological acceptability.


Diesel Engine Mean Time Between Failure Machine Movement Digging Depth Soil Digging 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Ai [%]

Technical availability

MTBF [h]

Mean Time Between Failure

MTTR [h]

Mean Time To Repair

Λ [-]

Failure rate

M(t) [h]

Mathematical probability

R [m]

Flail radius

Fi [N]

Force impulse

Rki [N]

Hammer cutting resistance

Rσ i [N]

Resistance to crushing

PT [W]

Total power for machine

Pr [W]

Power for machine operation

Pv [W]

Power for machine movement

Ps [W]

Flail specific power

Mhm [Nm]

Hydromotor moment

Mg [Nm]

Moment for starting the track movement

Mu [Nm]

Rotor resistance moment

Mp [Nm]

Flail start up moment

R1 [N]

Soil cutting resistance

Fσi [N]

Total crushing force

S [mm]

Tool cutting feed (hammer shear)

Sti [m]

Thickness of crushed

zn [-]

Number of grasping hammers

Rk [N]

Rolling resistance (wheels/tracks)

Ri [N]

Inertia resistance

Rα [N]

Slope resistance

Σ R [N]

Movement resistance

fk [-]

Rolling resistance coefficient

Mgi [Nm]

Track moment

rg [m]

Track sprocket wheel radius


Diesel engine power

U [m3/h]

Machine efficiency


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Copyright information

© Springer-Verlag London 2013

Authors and Affiliations

  1. 1.Velika GoricaZagrebCroatia

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