Title :
Development of mine detection system for mobile robot system
Author :
Kim, Seokhwan ; Park, Seung ; Lee, Jeongyeob ; Han, Byunghak ; Choi, Changhwan
Author_Institution :
Adv. Res. Team, Hyundai Rotem, Uiwang
Abstract :
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 ratiopsilas of the gearbox, the advanced Straete et al.psilas normalization method is used after conducting dynamic analysis. Two kinds of dynamic analyses are executed to confirm the result, one is MATLABpsilas SimMechanics and the other one is PRO-Engineerpsilas Mechanism. Finally, structural analysis is conducted to verify the robustness of the designed system.
Keywords :
landmine detection; manipulators; mathematics computing; mobile robots; MATLAB; SimMechanics; explosive ordnance detection; manipulator; mine detection system; mobile robot system; structural analysis; Control systems; Explosives; Ground penetrating radar; Landmine detection; Manipulators; Mobile robots; Motion control; Motion detection; Radar detection; Vehicle dynamics; mobile manipulator; motor selection; multi-sensor;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694201
