Development of Mine Detection System for Mobile Robot System

被引：0
|
作者：
Kim, Seokhwan [1 ]
Park, Seung [2 ]
Lee, Jeongyeob [1 ]
Han, Byunghak [3 ]
Choi, Changhwan [4 ]
机构：
[1] HyundaiRotem, Adv Res Team, Uiwang, South Korea
[2] Defense Agcy Technol & Qual, Dept Technol Planning 1, Jinju, South Korea
[3] HyundaiRotem, Syst Dev Team, Uiwang, South Korea
[4] Korea Atom Energy Res Inst, Nucl Fuel Cycle Remote Technol Lab, Daejeon, South Korea
来源：
2008 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-4 | 2008年
关键词：
mobile manipulator; motor selection; multi-sensor;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper introduces a development process of a manipulator that is installed to a mobile robot system and used to detect explosive ordnance and dispose it. Based on system requirements, its boundary conditions are analyzed and the minimum driving ranges and RPMs of each joint are calculated. To choose the optimum actuators including reduction ratio's of the gearbox, the advanced Straete et al.'s normalization method is used after conducting dynamic analysis. Two kinds of dynamic analyses are executed to confirm the result, one is MATLAB's SimMechanics and the other one is PRO-Engineer's Mechanism. Finally, structural analysis is conducted to verify the robustness of the designed system.
引用
收藏
页码：2033 / +
页数：2
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