Design and Development of Mobile Robot for Radiation Protection Assistance

被引：0
|
作者：
Zeb, Jahan [1 ]
Rashid, Farooq [2 ]
Iqbal, Naeem [1 ]
Ahmed, Nasir [1 ]
机构：
[1] Pakistan Inst Engn & Appl, Dept Elect Engn, Islamabad, Pakistan
[2] Pakistan Inst Nucl Sci & Technol, Div Hlth Phys, Islamabad, Pakistan
来源：
INTERNATIONAL JOURNAL OF COMPUTER SCIENCE AND NETWORK SECURITY | 2007年 / 7卷 / 04期
关键词：
Articulated robotic arm; Kinematics; radiation; Remote handlings;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A mobile Radiation Protection Assistant Robot (RPAR) has been designed to assist radiation workers in a hostile radiation environment. The RPAR comprises of a cubicle tri-wheeled platform and a four Degree of Freedom (4-DOF) serial type articulated robotic arm. The movement of the platform is controlled by two differential wheeled driving systems. The RPAR is helpful in radiation mapping, handling and transportation of radioactive material. It can also be helpful in radiation emergencies. The kinematics study and manipulator Jacobian of the gripper of articulated robotic arm has been assessed and workspace analysis is made. Radiation hardening study of the electronic components of RPAR driver modules has also been carried out to ensure the safe operation up to a total ionizing dose of 9 Sv.
引用
收藏
页码：99 / 106
页数：8
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