Helios VII: a new vehicle for disaster response — mechanical design and basic experiments

2005 ◽  
Vol 19 (8) ◽  
pp. 901-927 ◽  
Author(s):  
M. Guarnieri ◽  
P. Debenest ◽  
T. Inoh ◽  
E. Fukushima ◽  
S. Hirose
Keyword(s):  
Disaster Response ◽  
Mechanical Design ◽  
Basic Experiments

Development of ""Souryu I & II"" -Connected Crawler Vehicle for Inspection of Narrow and Winding Space

2003 ◽  
Vol 15 (1) ◽  
pp. 61-69 ◽  
Author(s):  
Toshio Takayama ◽  
◽  
Shigeo Hirose
Keyword(s):  
Large Scale ◽  
Mechanical Characteristics ◽  
Mechanical Design ◽  
Field Tests ◽  
Basic Concepts ◽  
And Performance ◽  
Basic Experiments ◽  
The Way

In large-scale disasters such as earthquakes, people who have been trapped inside collapsed houses or buildings must be located and rescued as soon as possible, because it becomes difficult to survive, as the time passes. The prototype of ""Connected Crawler Vehicle for Inspection of Narrow and Winding Space"", named ""Souryu"" has been developed for the purpose of searching for such victims. In order to stand practical use, the necessity of easy control and toughness are the basic concepts of this vehicle, and based on these principles, we determined the actual vehicle mechanical characteristics. In this paper, the mechanical design and performance of ""Souryu I"", and the way of improvement for ""Souryu II"" will be discussed and the effectiveness will be confirmed by some basic experiments and field tests.

HELIOS VIII: Toward Practical Robots for Search and Rescue Operations

2008 ◽  
Vol 20 (5) ◽  
pp. 675-694 ◽  
Author(s):  
Michele Guarnieri ◽  
◽  
Inoh Takao ◽  
Edwardo F. Fukushima ◽  
Shigeo Hirose ◽  
...  
Keyword(s):  
Disaster Response ◽  
Mechanical Design ◽  
New Technology ◽  
Search And Rescue ◽  
Control Architecture ◽  
Vehicle Concept ◽  
End Effector ◽  
Unstructured Environments ◽  
Industrial Disaster ◽  
The Impact

With the progress and new technology developments in robotics research, the realization of practical tools for urban and industrial disaster response, from a mere dream, became a reality. Crawler vehicles, because of their terrain adaptability, have a considerable importance for rescue operations and tasks performed on damaged areas (i.e. unstructured environments). This contribution proposes a tracked robot named HELIOS VIII, consisting of a manipulator utilized not only for handling operations but mainly to assist the motion of the robot itself. In order to prove the efficacy of HELIOS vehicle concept, an overview on the experiments carried out with the first developed prototype HELIOS VII will be presented. Afterwards the new vehicle HELIOS VIII will be introduced illustrating in detail its mechanical design as well as its control architecture. Improvements from the previous version are explained and justified with emphasizing the mechanical design of a new soft gripper consisting of four fingers actuated by a single motor. The new end-effector consists also of a special mechanism for the connection of the vehicle to another crawler unit. This solution can improve the system terrain adaptability on very rough terrains. Finally tests will be explained and discussed as well as the impact of the proposed solution toward the realization of effective tools for disaster relief.

Three-Fingered Robot Hand with Gripping Force Generating Mechanism Using Small Gas Springs - Mechanical Design and Basic Experiments –

2019 ◽  
Vol 31 (1) ◽  
pp. 118-134 ◽  
Author(s):  
Junya Tanaka ◽  
Keyword(s):  
Power Supply ◽  
Mechanical Design ◽  
Robot Hand ◽  
Single Motor ◽  
Feed Screw ◽  
Screw Mechanism ◽  
Gripping Force ◽  
Basic Experiments ◽  
Flexion And Extension

This paper presents the mechanical design of a new three-fingered robot hand for a robot designed to handle tableware. The finger mechanism has three joints and consists of a pair of fourbar linkage mechanisms, one small gas spring, and one feed screw mechanism. As the feed screw moves, the finger mechanism performs flexion and extension operations with its joints interlocked. The gas spring generates gripping force, which is adjusted at the position of the moving part moved by the feed screw. Therefore, the three-fingered robot hand can open and close synchronously, powered by a single motor in the base of the hand. The hand grips with mechanical flexibility. In addition, it can maintain its grip with no power supply. Tests show that the hand can successfully perform the movements required to grasp various kinds of tableware.

scholarly journals Development of a mobile manipulator for nuclear plant disaster, HELIOS X (Mechanical design and basic experiments)

2016 ◽  
Vol 82 (837) ◽  
pp. 15-00494-15-00494
Author(s):  
Satsuya NODA ◽  
Shigeo HIROSE ◽  
Koji UEDA ◽  
Hisami NAKANO ◽  
Atsushi HORIGOME ◽  
...  
Keyword(s):  
Mechanical Design ◽  
Nuclear Plant ◽  
Mobile Manipulator ◽  
Basic Experiments

Four-Fingered Robot Hand with Mechanism to Change the Direction of Movement – Mechanical Design and Basic Experiments –

2018 ◽  
Vol 30 (4) ◽  
pp. 624-637 ◽  
Author(s):  
Junya Tanaka ◽  
◽  
Atsushi Sugahara ◽  
Hideki Ogawa
Keyword(s):  
Mechanical Design ◽  
Service Robot ◽  
Robot Hand ◽  
State Transformation ◽  
Effective Mechanism ◽  
Direction Of Movement ◽  
High Level ◽  
Opening And Closing ◽  
Movement Orientation ◽  
Basic Experiments

This paper presents the mechanical design for a new, four-fingered robot hand. The hand was developed in the context of a service robot project that aims to produce a robot that can handle tableware of various shapes to set and clear a table. This project required the development of a new hand that has a small number of motors but still a high level of adaptability so that it can handle the various shapes of tableware found in a place setting. We therefore developed a four-fingered robot hand which consists of four finger mechanisms and a mechanism capable of changing its direction of movement. The movement orientation of the four fingers can change, in a synchronized state, from a posture in which they are directly opposed to one in which they are diagonally opposed. This state transformation can be achieved with only one motor. Also, four fingers can perform synchronous opening and closing motions, and these motions can be achieved by only one motor. Only two motors are needed to drive the robot hand, and both are installed in the base of the hand. Consequently, the hand is a simple but very effective mechanism for stably handling tableware. Tests have shown that it can successfully grasp various kinds of tableware, and that the new mechanism operates effectively.

The new CM-Series TEMs: integration of a five-axis motorized, fully computer-controlled goniometer

1993 ◽  
Vol 51 ◽  
pp. 258-259
Author(s):  
Marc J.C. de Jong ◽  
P. Emile S.J. Asselbergs ◽  
Max T. Otten
Keyword(s):  
Mechanical Design ◽  
Computer Control ◽  
Objective Lens ◽  
Access Port ◽  
Vibration Stability ◽  
Transmission Electron ◽  
Computer Controlled ◽  
High Degree ◽  
Five Axis ◽  
Five Axes

A new step forward in Transmission Electron Microscopy has been made with the introduction of the CompuStage on the CM-series TEMs: CM120, CM200, CM200 FEG and CM300. This new goniometer has motorization on five axes (X, Y, Z, α, β), all under full computer control by a dedicated microprocessor that is in communication with the main CM processor. Positions on all five axes are read out directly - not via a system counting motor revolutions - thereby providing a high degree of accuracy. The CompuStage enters the octagonal block around the specimen through a single port, allowing the specimen stage to float freely in the vacuum between the objective-lens pole pieces, thereby improving vibration stability and freeing up one access port. Improvements in the mechanical design ensure higher stability with regard to vibration and drift. During stage movement the holder O-ring no longer slides, providing higher drift stability and positioning accuracy as well as better vacuum.

Remote Area Disaster Response in Australia

2002 ◽  
Vol 17 (S2) ◽  
pp. S16-S17
Author(s):  
Eric W. Williams
Keyword(s):  
Disaster Response ◽  
Remote Area

Has Parapsychology Found its Basic Experiments?

PsycCRITIQUES ◽  
1986 ◽  
Vol 31 (3) ◽  
Author(s):  
Charles Akers
Keyword(s):  
Basic Experiments
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