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Development of an articulated mine-detecting manipulator system for mobile robots

Seungnam Yu*, Changhwan Choi, Seungyeol Lee, Jeongyeob Lee, Changsoo Han*
The Journal of Mechanical Science and Technology, vol. 25, no. 4, pp.1051-1060, 2011

Abstract : This paper presents a servo motor selection technique for a mobile mine detection system which is operated in the field condition. As a first step, mine detection sensor should follow the earth profile while maintaining a constant distance to the earth surface. In order to acquire a reasonable manipulator trajectory and its required torque, a kind of modeling technique is devised to remove the unwanted fluctuations in the earth data. Then, Straete et al.¡¯s normalization method is adopted and is improved to select the adequate actuator for each joint of manipulator. The improvements are as follows: First, an equivalent output power lines are plotted at the same load curve, which gives another selection criterion. Second, a temperature based criterion is proposed for the continuous limit, which estimates the steady state winding temperature of a motor, and can be used to determine a suitable motor and gear ratio. This formulation gives not only the selection of a motor and gear ratio, but also gives the estimated operating temperature. Finally, realized system is verified through the basic performance test.

Keyword : Mine detection; Wheeled manipulator; Performance analysis; Mobile robot

 
 
 
 
 
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