Completely mechanical quick changeable joints for multipurpose explosive ordnance disposal robots

Abstract

SUMMARYThis paper is an investigation of completely mechanical quick changeable joints for multipurpose explosive ordnance disposal (EOD) robots. With the assistance of a quick changeable joint, an ordinary EOD robot becomes a multipurpose robot with an end effector which can be switched during the task. This exchangeable end effector permits the robot to perform more complex duties. Making the joint completely mechanical increases its capacity and decreases its complexity of control and risk of failure. In this paper, the design, manufacturing, and testing stages are explained for four quick changeable joints each possessing different physical working principles. The test results reveal the best design for a multipurpose EOD robot and give ideas for other uses of quick changeable joints. Employing the quick changeable joints in other mobile robot applications can increase a robot's capacity and efficiency.

Explosive Ordnance Disposal Robot Path Planning Based on Danger Model Immune Wavelet Neural Network

“…The central idea in the Danger Theory is that the immune system does not respond to non-self but to danger. In Danger Theory, the damage and death caused by viruses or other entities generate such distress signals [7][8]. Essentially, the danger signal establishes a danger zone around itself.…”

Development of a humanoid robot hand with coupling four-bar linkage

“…Nowadays, due to the excellent characteristics, such as intelligent control, operation flexibility, and high degree of humanoid, [1][2][3] robots have been applied in many fields, such as medical science, 4 equipment maintenance, 5 aviation, 6 explosive ordnance disposal (EOD), 7 and industrial production. 8 The operating performance of a robot end-effector plays an important role in completing the complex tasks.…”

Simple expert systems to improve an ultrasonic sensor‐system for a tele‐operated mobile‐robot

“…Potential applications for mobile-robots range from maintenance 6 , cleaning 7 , service 8,9 , nuclear [10][11][12] , search and rescue [13][14][15] , security 16 , rescue 13,15,17,18 , automated mapping and surveillance 19 , space exploration 20 , inspection 6,11,12,[21][22][23][24][25] , mine clearance 26,27 and underground exploration 28 . Many types of unmanned vehicles do these jobs, including boats 29,30 , aircraft [30][31][32] and surface vehicles [32][33][34][35] .…”

“…Much research has aimed to improve tele-operation and robotics in hazardous or unpleasant environments 2,[9][10][11][12][26][27][28][29]53 , or in places where conventional techniques required cost intensive supporting infrastructures [54][55][56] . Conventional robots are limited when a task requires a level of perception and decision making which cannot be met in a cost effective or robust way.…”

“…Potential applications for mobile-robots range from maintenance (Sanders et al, 2010a), cleaning (Akinfiev et al, 2009), service (Ha et al, 2008;Luk et al, 2005), nuclear (Sands, 2006;Luk et al, 2006a, b), search and rescue (Molfino et al, 2007;Sanders, 2010;Wang and Hong, 2007), security (Carnegie and Cordes, 2004), rescue (Molfino et al, 2007;Wang and Hong, 2007;Sanders, 2009b;Rimassa et al, 2009), The current issue and full text archive of this journal is available at www.emeraldinsight.com/0260-2288.htm automated mapping and surveillance (Milella et al, 2008), space exploration (Anon., 2008), inspection (Sanders et al, 2010a, c;Luk et al, 2006a, b;Hillenbrand et al, 2008;Sattar et al, 2009;Sanders, 2009;Distante et al, 2009), mine clearance (Cobano et al, 2008;Kececi, 2009) and underground exploration (Omori et al, 2009). Many types of unmanned vehicles do these jobs, including boats (Sun and Cheah, 2009;Honary et al, 2009), aircraft (Honary et al, 2009;Lok, 2005;Bloss, 2007) and surface vehicles (Bloss, 2007(Bloss, , 2009Sanders and Stott, 2011;Waheed and Fotouhi, 2009).…”