A New Approach to Humanitarian Demining. Part 2: Development and Analysis of Pantographic Manipulator

Authors:
Paulo Debenest;Edwardo F. Fukushima;Yuki Tojo;Shigeo Hirose
Affiliations:
Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan;Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan;Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan;Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan
Venue:
Autonomous Robots
Year:
2005

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RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications

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Abstract

Humanitarian demining is an application in which the use of tele-operated machines and mechanisms has been gaining acceptance recently. Actually, demining is just one among many other field applications that require a high degree of mobility, manipulation of loads, robustness and, above all, high efficiency in terms of energy consumption. This paper will present the development and analysis of Field Arm, a pantographic manipulator especially designed for field works, focusing on its kinematic, static and dynamic properties. The novel features of Field Arm will be presented and discussed with results of simulations and experiments.