DocumentCode :
3572377
Title :
Development and optimum design of a mobile manipulator for CBRN sampling
Author :
Yayun Huang ; Weidong Wang ; Dongmei Wu
Author_Institution :
State key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
fYear :
2014
Firstpage :
525
Lastpage :
530
Abstract :
Chemical, biological, radiological, nuclear, and explosive (CBRNE) defense is a very critical issue in today´s world and there is a trend to apply unmanned systems in such emergencies. Mobile manipulator is one typical representative and the performance of the manipulator matters a lot for the task. In this paper, the requirement of the manipulator for a sampling task is analyzed and a lightweight 5R manipulator is presented. As to get the best performance of the manipulator during the sampling process, the planar 3R manipulator´s workspace is deeply looked into and an optimization method is proposed, which combines the condition number of the normalized Jacobian matrix and the end effector´s orientation capability. And the optimum design is demonstrated through the simulation of a specific sampling task using rvc toolbox.
Keywords :
Jacobian matrices; end effectors; explosives; mobile robots; optimisation; sampling methods; weapons; CBRN sampling process; CBRNE defense; chemical-biological-radiological-nuclear and explosive defense; end effector orientation capability; lightweight 5R manipulator; mobile manipulator optimum design; normalized Jacobian matrix; optimization method; planar 3R manipulator workspace; rvc toolbox; unmanned systems; End effectors; Jacobian matrices; Joints; Kinematics; Optimization; dexterity criteria; mobile manipulator; optimum design; planar 3R orientation capability; workspace;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
Type :
conf
DOI :
10.1109/WCICA.2014.7052768
Filename :
7052768
Link To Document :
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