Hostname: page-component-848d4c4894-75dct Total loading time: 0 Render date: 2024-06-05T03:17:52.170Z Has data issue: false hasContentIssue false
  • English
  • Français

Completely mechanical quick changeable joints for multipurpose explosive ordnance disposal robots

Published online by Cambridge University Press:  01 July 2009

E. Faruk Kececi
E. Faruk Kececi*
Affiliation:
Department of Mechanical Engineering, Izmir Institute of Technology, Urla, Izmir 35430, Turkey. E-mail: farukkececi@iyte.edu.tr
Get access Rights & Permissions [Opens in a new window]

Summary

This paper is an investigation of completely mechanical quick changeable joints for multipurpose explosive ordnance disposal (EOD) robots. With the assistance of a quick changeable joint, an ordinary EOD robot becomes a multipurpose robot with an end effector which can be switched during the task. This exchangeable end effector permits the robot to perform more complex duties. Making the joint completely mechanical increases its capacity and decreases its complexity of control and risk of failure. In this paper, the design, manufacturing, and testing stages are explained for four quick changeable joints each possessing different physical working principles. The test results reveal the best design for a multipurpose EOD robot and give ideas for other uses of quick changeable joints. Employing the quick changeable joints in other mobile robot applications can increase a robot's capacity and efficiency.

Keywords

Quick changeable jointMultipurpose robotJoint testing
Type
Article
Information
Robotica , Volume 27 , Issue 4 , July 2009 , pp. 555 - 565
Copyright
Copyright © Cambridge University Press 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Telerob web site, July 31, 2008, http://www.telerob.de/telerob_online/index.htmlGoogle Scholar
2.Allen Vanguard web site, July 31, 2008, http://www.allenvanguard.comGoogle Scholar
3.Gokler, M. I. and Koc, M. B., “Design of an automatic tool changer with disc magazine for a CNC horizontal machining center,” Int. J. Mach. Tools Manufact. 37 (3), 277–286 (1997).CrossRefGoogle Scholar
4.Ryuh, B., Park, S. M. and Pennock, G. R., “An automatic tool changer and integrated software for a robotic die polishing station,” Mech. Mach. Theory 41 (4), 415–432 (2006).CrossRefGoogle Scholar
5.Meghdari, A. and Barazandeh, F., “Design and fabrication of a novel quick-change system,” Mechatronics 10 (7), 809–818 (2000).CrossRefGoogle Scholar
6.Hesse, S., “Modular Pick and Place Devices,” In: Blue Digest on Automation (Festo Ag&Co., Esslingen, Germany, 2000).Google Scholar
7.Hesse, S., “Grippers and Their Applications,” In: Blue Digest on Automation (Festo Ag&Co., Esslingen, Germany, 2001).Google Scholar
8.Rosheim, M. S., “Robot Wrist Actuators (John Wiley & Sons, Canada, 1989).Google Scholar