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.
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This paper was recommended for publication in revised form by Associate Editor Yang Shi
Seung-Nam Yu received a B.S. in Mechanical Engineering, Hanyang University, Korea in 2004, and the M.S. and Ph.D. degrees in Mechanical Engineering from Hanyang University, Korea in 2006 and 2008, respectively. He is now enrolled in Fuel Cycle System Eng. Tech. Development Division of Korea Atomic Energy Research Institute (KAERI) in Korea. His main research interests are in robotics, Human-Robot Cooperation Technology.
Chang-Soo Han received a Ph.D. in Mechanical Engineering from the University of Texas at Austin, USA, in 1989. From 1987 to 1988, he was a consultant for a Lockheed MAC III design project of Lockheed Austin Division, and from 1996 to 1997, visiting professor at the University of California at Berkeley. Currently, he is a professor of robotics in the department of Mechanical Engineering, Hanyang University. His research interests include field robotics and automation in construction.
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Yu, S., Choi, C., Lee, S. et al. Development of an articulated mine-detecting manipulator system for mobile robots. J Mech Sci Technol 25, 1051–1060 (2011). https://doi.org/10.1007/s12206-011-0211-8
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DOI: https://doi.org/10.1007/s12206-011-0211-8