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Variable Configuration Tracked Mobile Robot for Demining Operations

[+] Author Affiliations
Sang-Do Kim, Cheong-Hee Lee, Suk-June Yoon, Hae-Kwan Jeong, Yoon Keun Kwak

Korea Advanced Institute of Science and Technology, Daejeon, Korea

Sung-Chul Kang, Mun-Sang Kim

Korea Institute of Science and Technology, Seoul, Korea

Paper No. DETC2004-57196, pp. 571-575; 5 pages
doi:10.1115/DETC2004-57196
From:
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME

abstract

This paper introduces a link-type tracked mobile robot developed for demining operations. The robot consists of three parts: a front frame, a rear frame, and a body. The front frame is connected to the rear frame by a rotational passive adaptation mechanism, which is a driving mechanism of the robot. This passive adaptation mechanism enables the proposed robot good adaptability to uneven terrain including stairs. The link structure gives rise to a small, simple, and energy efficient vehicle. In addition, the new demining system adaptable to the proposed tracked mobile robot is discussed on how to clear small anti-personnel mines with a non-explosive method. Both the motion of the demining rake and the design parameters of the demining unit are analyzed. Finally, a presentation follows on how the new demining system can unearth small anti-personnel mines with a non-explosive method.

Copyright © 2004 by ASME
Topics: Mobile robots

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