Please use this identifier to cite or link to this item:
https://hdl.handle.net/11147/2535
Title: | Completely Mechanical Quick Changeable Joints for Multipurpose Explosive Ordnance Disposal Robots | Authors: | Keçeci, Emin Faruk | Keywords: | End effectors Joint testing Multipurpose robot Quick changeable joint Machine design |
Publisher: | Cambridge University Press | Source: | Keçeci, E. F. (2009). Completely mechanical quick changeable joints for multipurpose explosive ordnance disposal robots. Robotica, 27(4), 555-565. doi:10.1017/S0263574708004943 | Abstract: | This paper is an investigation of completely mechanical quick changeable joints for multipurpose explosive ordnance disposal (EOD) robots. With the assistance of a quick changeable joint, an ordinary EOD robot becomes a multipurpose robot with an end effector which can be switched during the task. This exchangeable end effector permits the robot to perform more complex duties. Making the joint completely mechanical increases its capacity and decreases its complexity of control and risk of failure. In this paper, the design, manufacturing, and testing stages are explained for four quick changeable joints each possessing different physical working principles. The test results reveal the best design for a multipurpose EOD robot and give ideas for other uses of quick changeable joints. Employing the quick changeable joints in other mobile robot applications can increase a robot's capacity and efficiency. | URI: | http://doi.org/10.1017/S0263574708004943 http://hdl.handle.net/11147/2535 |
ISSN: | 0263-5747 0263-5747 1469-8668 |
Appears in Collections: | Mechanical Engineering / Makina Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
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