Development of a mobile manipulator for nuclear plant disaster, HELIOS X (Mechanical design and basic experiments)
In places such as nuclear power plant disaster area, which it is difficult for human workers to enter, robots are required to scout those places instead of human workers. In this paper, we present a mobile manipulator HELIOS X for a nuclear plant decommissioning task. Firstly, we address demands and...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2016-04-01
|
| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/82/837/82_15-00494/_pdf/-char/en |
| _version_ | 1797989036683427840 |
|---|---|
| author | Satsuya NODA Shigeo HIROSE Koji UEDA Hisami NAKANO Atsushi HORIGOME Gen ENDO |
| author_facet | Satsuya NODA Shigeo HIROSE Koji UEDA Hisami NAKANO Atsushi HORIGOME Gen ENDO |
| author_sort | Satsuya NODA |
| collection | DOAJ |
| description | In places such as nuclear power plant disaster area, which it is difficult for human workers to enter, robots are required to scout those places instead of human workers. In this paper, we present a mobile manipulator HELIOS X for a nuclear plant decommissioning task. Firstly, we address demands and specifications for the robot, considering the mission of reconnaissance. Then we outline the system of the robot, mainly focusing on the following mechanism:“Crank Wheel”, “ Main Arm ”,“ Sphere Link Wrist ”,“ Camera Arm ”,“ Control System ”and“ System architecture ”. Especially, we installed 3 degree of freedom“ Camera Arm ”on the“ Main Arm ”, in order to improve functionality of remote control system. This enables the operator to monitor both the gripper and its overall view of the robot.“ Camera Arm ” helps the operator to recognize the distance from an object to the gripper, because the operator can interactively move the viewpoint of the camera, and monitor from another camera angle without changing the gripper’s position. We confirmed the basic functionality of mobile base,“ Main Arm ”and“ Camera Arm ”through hardware experiments. We also demonstrated that HELIOS X could pass through the pull-to-open door with a substantial closing force when the operator watched camera view only. |
| first_indexed | 2024-04-11T08:12:41Z |
| format | Article |
| id | doaj.art-8fc3664141004de89458fefa2228896c |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-11T08:12:41Z |
| publishDate | 2016-04-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-8fc3664141004de89458fefa2228896c2022-12-22T04:35:16ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612016-04-018283715-0049415-0049410.1299/transjsme.15-00494transjsmeDevelopment of a mobile manipulator for nuclear plant disaster, HELIOS X (Mechanical design and basic experiments)Satsuya NODA0Shigeo HIROSE1Koji UEDA2Hisami NAKANO3Atsushi HORIGOME4Gen ENDO5Department of Mechano-Micro Engineering, Tokyo Institute of TechnologyHIBOT CORPORATIONDepartment of Mechanical and Aerospace Engineering, Tokyo Institute of TechnologyDepartment of Mechanical and Aerospace Engineering, Tokyo Institute of TechnologyDepartment of Mechanical and Aerospace Engineering, Tokyo Institute of TechnologyDepartment of Mechanical and Aerospace Engineering, Tokyo Institute of TechnologyIn places such as nuclear power plant disaster area, which it is difficult for human workers to enter, robots are required to scout those places instead of human workers. In this paper, we present a mobile manipulator HELIOS X for a nuclear plant decommissioning task. Firstly, we address demands and specifications for the robot, considering the mission of reconnaissance. Then we outline the system of the robot, mainly focusing on the following mechanism:“Crank Wheel”, “ Main Arm ”,“ Sphere Link Wrist ”,“ Camera Arm ”,“ Control System ”and“ System architecture ”. Especially, we installed 3 degree of freedom“ Camera Arm ”on the“ Main Arm ”, in order to improve functionality of remote control system. This enables the operator to monitor both the gripper and its overall view of the robot.“ Camera Arm ” helps the operator to recognize the distance from an object to the gripper, because the operator can interactively move the viewpoint of the camera, and monitor from another camera angle without changing the gripper’s position. We confirmed the basic functionality of mobile base,“ Main Arm ”and“ Camera Arm ”through hardware experiments. We also demonstrated that HELIOS X could pass through the pull-to-open door with a substantial closing force when the operator watched camera view only.https://www.jstage.jst.go.jp/article/transjsme/82/837/82_15-00494/_pdf/-char/ennuclear plantmobile manipulatorcrank legsphere link wristcamera armdoor open |
| spellingShingle | Satsuya NODA Shigeo HIROSE Koji UEDA Hisami NAKANO Atsushi HORIGOME Gen ENDO Development of a mobile manipulator for nuclear plant disaster, HELIOS X (Mechanical design and basic experiments) Nihon Kikai Gakkai ronbunshu nuclear plant mobile manipulator crank leg sphere link wrist camera arm door open |
| title | Development of a mobile manipulator for nuclear plant disaster, HELIOS X (Mechanical design and basic experiments) |
| title_full | Development of a mobile manipulator for nuclear plant disaster, HELIOS X (Mechanical design and basic experiments) |
| title_fullStr | Development of a mobile manipulator for nuclear plant disaster, HELIOS X (Mechanical design and basic experiments) |
| title_full_unstemmed | Development of a mobile manipulator for nuclear plant disaster, HELIOS X (Mechanical design and basic experiments) |
| title_short | Development of a mobile manipulator for nuclear plant disaster, HELIOS X (Mechanical design and basic experiments) |
| title_sort | development of a mobile manipulator for nuclear plant disaster helios x mechanical design and basic experiments |
| topic | nuclear plant mobile manipulator crank leg sphere link wrist camera arm door open |
| url | https://www.jstage.jst.go.jp/article/transjsme/82/837/82_15-00494/_pdf/-char/en |
| work_keys_str_mv | AT satsuyanoda developmentofamobilemanipulatorfornuclearplantdisasterheliosxmechanicaldesignandbasicexperiments AT shigeohirose developmentofamobilemanipulatorfornuclearplantdisasterheliosxmechanicaldesignandbasicexperiments AT kojiueda developmentofamobilemanipulatorfornuclearplantdisasterheliosxmechanicaldesignandbasicexperiments AT hisaminakano developmentofamobilemanipulatorfornuclearplantdisasterheliosxmechanicaldesignandbasicexperiments AT atsushihorigome developmentofamobilemanipulatorfornuclearplantdisasterheliosxmechanicaldesignandbasicexperiments AT genendo developmentofamobilemanipulatorfornuclearplantdisasterheliosxmechanicaldesignandbasicexperiments |