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Published in:
2013 | OriginalPaper | Chapter
Design and Inverse Kinematics of Three Degree of Freedom Mine Detection Manipulator
Authors : Nauman K. Haider, Shiraz Gulraiz, Ayaz Mehmood, Umer Izhar
Published in: Intelligent Robotics and Applications
Publisher: Springer Berlin Heidelberg
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Every year hundreds of people lose their lives because of land mine explosions. The objective of this paper is to design a manipulator on which a mine detector can be mounted as its end effector and can effectively perform mine detection operation. In this paper the major factors for designing a 3 degree of freedom manipulator are discussed. These include design considerations, inverse kinematics, torque, velocity, stress, deformation analysis and centre of mass calculations are presented. A numerical approach is presented here for a manipulator design to achieve the required task. This robotic manipulator can support a robotic end effector (specifically mine detector) up to 2 kg.