Development of a Teleoprated Heavy-Duty Robot for Assisting Rescue Activities
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Accession number;05A0961261
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| Title;Development of a Teleoprated Heavy-Duty Robot for Assisting Rescue Activities |
| Author;
YOKOKOJI YASUYOSHI
(Kyoto Univ., Faculty of Engineering, JPN)
SATO YUJI
(Kyoto Univ., Faculty of Engineering, JPN)
KAWATA KOHEI
(Kyoto Univ., Faculty of Engineering, JPN)
SHIRATSUCHI KOJI
(Kyoto Univ., Faculty of Engineering, JPN)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu (CD-ROM)
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Journal Code:L0318B
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ISSN:
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VOL.2005;NO.;PAGE.ALL-N-010(2005)
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| Figure&Table&Reference;FIG.5, REF.1 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;As a part of the prototype robot project for Aichi Expo 2005 suponsored by NEDO, we are developing a teleoperated heavy-duty robot for assisting rescue activities. The slave robot, named ENRYU T-52, has been already developed mainly by tmsuk co.,LTD. The main part of this project is to develop a master console system that controls the slave robot by master-slave manner. The basic design policies of this master console are (i) to avoid operator fatigue as much as possible by introducing arm-rests, (ii) to design a kinematicaly dissimilar master with indexing technique, and (iii) to introduce an intuitive way for commanding elbow and mast motions. Based on the specified design policies, we actually fabricated several prototypes of master arm. We then designed a master console that will be used in Aichi Expo. (author abst.) |
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