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Sensing system design and torque analysis of a haptic operated climbing robot | IEEE Conference Publication | IEEE Xplore

Sensing system design and torque analysis of a haptic operated climbing robot


Abstract:

The robots operating in hazardous environments such as nuclear plant decommissioning or terrorist bomb disposal need to show off-road capabilities due to the uneven terra...Show More

Abstract:

The robots operating in hazardous environments such as nuclear plant decommissioning or terrorist bomb disposal need to show off-road capabilities due to the uneven terrain including stairs and ditches. The hazardous environment operation typically requires the use of a remotely operated robot. In this paper we propose an improved articulated track mechanism. A sensing system for haptic operation with a joystick is proposed considering the robot contacts to the stair. Additionally, we present the algorithm for the proposed robot to climb the stairs. Torque analysis is made to design electrical motors, which produce torque enough to drive the track lifting motor and track rotating motor.
Date of Conference: 28 September 2004 - 02 October 2004
Date Added to IEEE Xplore: 14 February 2005
Print ISBN:0-7803-8463-6
Conference Location: Sendai, Japan

References

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