Design and Inverse Kinematics of Three Degree of Freedom Mine Detection Manipulator

Nauman K Haider; Shiraz Gulraiz; Ayaz Mehmood; Umer Izhar

doi:10.1007/978-3-642-40849-6_1

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Design and Inverse Kinematics of Three Degree of Freedom Mine Detection Manipulator

Conference paper

Peer reviewed

Design and Inverse Kinematics of Three Degree of Freedom Mine Detection Manipulator

Nauman K Haider, Shiraz Gulraiz, Ayaz Mehmood and Umer Izhar

Intelligent Robotics and Applications: 6th International Conference, ICIRA 2013, Busan, South Korea, September 25-28, 2013, Proceedings, Part II, pp.1-15

International Conference on Intelligent Robotics and Applications (IRICA), 6th (Busan, South Korea, 25-Sep-2013 - 28-Sep-2013)

Lecture Notes in Computer Science, 8103, Springer

2013

DOI: https://doi.org/10.1007/978-3-642-40849-6_1

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Abstract

manipulator design

inverse kinematics

3 DOF manipulator

stress analysis

deformation analysis

torque requirement calculations

centre of mass calculation

Every year hundreds of people lose their lives because of land mine explosions. The objective of this paper is to design a manipulator on which a mine detector can be mounted as its end effector and can effectively perform mine detection operation. In this paper the major factors for designing a 3 degree of freedom manipulator are discussed. These include design considerations, inverse kinematics, torque, velocity, stress, deformation analysis and centre of mass calculations are presented. A numerical approach is presented here for a manipulator design to achieve the required task. This robotic manipulator can support a robotic end effector (specifically mine detector) up to 2 kg.

Details

Title: Design and Inverse Kinematics of Three Degree of Freedom Mine Detection Manipulator
Authors: Nauman K Haider (Author) - National University of Sciences and Technology
Shiraz Gulraiz (Author) - National University of Sciences and Technology
Ayaz Mehmood (Author) - National University of Sciences and Technology
Umer Izhar (Author) - National University of Sciences and Technology
Contributors: Jangmyung Lee (Editor) - Pusan National University
Min Cheol Lee (Editor) - Pusan National University
Honghai Liu (Editor) - University of Portsmouth
Jee-Hwan Ryu (Editor) - Korea University of Technology and Education
Publication details: Intelligent Robotics and Applications: 6th International Conference, ICIRA 2013, Busan, South Korea, September 25-28, 2013, Proceedings, Part II, pp.1-15
Conference details: International Conference on Intelligent Robotics and Applications (IRICA), 6th (Busan, South Korea, 25-Sep-2013 - 28-Sep-2013)
Series: Lecture Notes in Computer Science; 8103
Publisher: Springer
DOI: 10.1007/978-3-642-40849-6_1; 10.1007/978-3-642-40849-6
ISSN: 1611-3349
ISBN: 9783642408496
Organisation Unit: School of Science, Technology and Engineering; University of the Sunshine Coast, Queensland
Language: English
Record Identifier: 99622941002621
Output Type: Conference paper

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