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Preliminary Study of Utilizing Plastic Tubes as a Component of Continuum Robots |
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DENYS MAKARETS(Korea Institute of Science and Technology, Republic of Korea), Denys Makarets, Keri Kim, Deukhee Lee(KIST, Republic of Korea) |
| Preliminary Study of Utilizing Plastic Tubes as a Component of Continuum Robots
Denys Makarets, Gunwoo Noh, Keri Kim and Deukhee Lee(KIST, Korea)
Continuum robots, new class of dexterous and thin robots, can be applied in great variety of minimal invasive surgical operations. These robots consist of two parts: manipulator, also called active cannula, and control unit. Manipulators, which are composed of concentric precurved tubes(usually 2-3), commonly made from nitinol, can enter human body through small incisions or natural orifices and, after reconfiguration into more complex ... |
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Screws on the Relative Parallel Mechanisms |
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Le Hoai Quoc(Saigon Hi-Tech Park, Viet Nam), Nguyen Minh Thanh(Saigon Hi-Tech Park Training Center, Viet Nam), Victor Glazunov, Aleksey Lastochkin(Mechanical Engineering Research Institute of RAS, Russian Federation) |
| This paper consider screws on the relative parallel mechanisms with three parallel kinematic chains. The analysis of these mechanisms is carried out by means of screw theory. This approach allows avoiding satisfied equations by singularity analysis of mechanisms. This property allows us to achieve the required number of degrees of freedom, using simple mechanisms in construction. It is possible to reduce the mutual effect that the motors have on each other when the mechanisms are in motion, placing them on the base. |
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Design and Evaluation of a Three-axis Force/Torque Sensor for Humanoid Robot Balance Control |
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Chao Yuan(Hanyang University/ CnR Lab, Republic of Korea), Rui-Jun Yan, Jing Wu, Kim Sang Ho, Kyoo-Sik Shin, Chang-Soo Han(Hanyang University, Republic of Korea) |
| For decades, popular culture has been enthralled with the possibility of robots that act and look like human.
Walking, as one of the most important features of human, needs to be well implemented by humanoid robots. In order
to perform stable robot gait, it is necessary to control the position of the Zero Moment Point (ZMP) of the robot. To
calculate the ZMP, forces and moments under robot feet are important information to use. Thus, in this paper, we
describe the development of a three-axis force/torque sensor to measure forces under robot feet in walking movement.
The key point of this senso |
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Hardware based Autonomous Fire Fighting Robot |
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Swetha Bobba(City University London, United Kingdom) |
| A Robot suitable for automatically extinguishing the fire during fire accidents is presented in this paper. The Robot moves in the direction of fire intensity and avoids self-destruction using calcium silicate boards shielding that are capable of withstanding very high temperatures. The principle used was designed and experimented at a temperature of 300°C. The temperature sensing capability of the robot is determined by heating the Thermocouple ends to a cut-off temperature, above which the robot starts responding to the fire. The Robot finds its applications in Rescue operations. |
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Development of Aerial Photographing System with Throwing Device for Disaster Information Gathering |
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Sho Katayama, Takashi Takimoto(Kitakyushu National College of Technology, Japan) |
| Recently, as a disaster information gathering tool, aerial photographing devices
which gather photos and videos from the air get much attention. As these devices, there are helium gas balloons, helicopters, and pole/crane vehicles. In this paper, we have developed a throw type photographing system which consists of an automatically photographing device packaged in a plastic capsule and a launching device. The attitude of the photographing device is controlled by the microcomputer with sensors. These sensors also used to estimate the time when the device reaches the top of air. |
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Mechanism Design of Exoskeletal Master Device for Dual Arm Robot |
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Chang-Hyuk Lee, Jiwon Choi(Seoul National University, Republic of Korea), Hooman Lee, Joongbae Kim(Electronics and Telecommunications Research Institute (ETRI), Republic of Korea), Young-bong Bang(Advanced Institutes of Convergence Technology, Republic of Korea) |
| As the usability of robots continues to increase, the use of dual-arm robots is also becoming of increasing importance. However, there has not yet been a proper motion-teaching method for dual-arm robots. In the dual-arm industry robots currently being used, each arm is separately taught by a teaching pendant, but in this case, the synchronization of each arm motion is difficult. In this paper, we propose an exoskeletal master device for dual-arm robot teaching. By adapting a long stroke prismatic joint as well as revolute joints for the shoulder mechanisms, a high-resolution absolute encoder, |
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