contributor author | Wang, Pengyuan;Deng, Binchen;He, Zongbo;Liu, Yuqiang;Xing, Zhiguang;Zhao, Jianwen | |
date accessioned | 2023-04-06T12:57:09Z | |
date available | 2023-04-06T12:57:09Z | |
date copyright | 12/5/2022 12:00:00 AM | |
date issued | 2022 | |
identifier issn | 19424302 | |
identifier other | jmr_15_5_051013.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4288821 | |
description abstract | Homemade bombs made by terrorists threaten seriously the social public security. Now, it is still a challenge to guarantee safety without destroying bombs. Compared with the destructive explosive disposal approach employing rigid robots, we proposed an insitu explosive disposal method, which takes advantage of an extensible continuum manipulator to pass through obstacles and cut wires by endeffector. The springbased continuum manipulator has sixdegreesoffreedom and is 400 mm in length but only 15 mm in diameter. Also, we have created only a 15 g endeffector that can cut 1mmdiameter copper wire and embed a miniature camera. According to the experiment, a single continuum manipulator has around 2 mm repeatability accuracy and can carry a 50 g weight. Without special training, the operator can control the integrated explosive ordnance disposal (EOD) robot to complete a simulation mission in approximately five minutes. This paper broadens the application of the continuum manipulator and gives a unique solution for EOD robots. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Extensible Continuum Manipulator Toward Insitu Explosive Ordnance Disposal | |
type | Journal Paper | |
journal volume | 15 | |
journal issue | 5 | |
journal title | Journal of Mechanisms and Robotics | |
identifier doi | 10.1115/1.4056080 | |
journal fristpage | 51013 | |
journal lastpage | 510138 | |
page | 8 | |
tree | Journal of Mechanisms and Robotics:;2022:;volume( 015 ):;issue: 005 | |
contenttype | Fulltext | |