Development of a mobile manipulator for nuclear plant disaster, HELIOS X (Mechanical design and basic experiments) by Satsuya NODA, Shigeo HIROSE, Koji UEDA, Hisami NAKANO, Atsushi HORIGOME, Gen ENDO

“…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. …”
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