Dynamic simulation of joint module with MR damper for mobile rescue robot

Joohan Park; Dongwon Yun; Dong Il Park; Chanhun Park

doi:10.1109/URAI.2016.7734045

Dynamic simulation of joint module with MR damper for mobile rescue robot

Joohan Park, Dongwon Yun, Dong Il Park, Chanhun Park

Department of Robotics and Mechatronics Engineering

Korea Institute of Machinery and Materials

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

In this paper, we have developed the dual arms manipulator of a rescue robot. This manipulator will be mounted on the mobile robot platform and, this robot will be used to perform rescue operations in extreme environments. The shock vibration occurs from the road when the robot is driving on the rugged terrain. It also adversely affects the robot as well as the rescuer. We propose the joint module utilizing MR(Magneto-Rheological) fluid in order to depress impact vibration from the environment. Also we have performed dynamic simulations on the dual arms manipulator considering vertically impact acceleration and analyzed the driving torque generated in the joint module.

Original language	English
Title of host publication	2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	157-158
Number of pages	2
ISBN (Electronic)	9781509008216
DOIs	https://doi.org/10.1109/URAI.2016.7734045
State	Published - 21 Oct 2016
Event	13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 - Xian, China Duration: 19 Aug 2016 → 22 Aug 2016

Publication series

Name	2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016

Conference

Conference	13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016
Country/Territory	China
City	Xian
Period	19/08/16 → 22/08/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

Joint with MR damper
MR fluid
Rescue robot

Access to Document

10.1109/URAI.2016.7734045

Cite this

Park, J., Yun, D., Park, D. I., & Park, C. (2016). Dynamic simulation of joint module with MR damper for mobile rescue robot. In 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 (pp. 157-158). Article 7734045 (2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2016.7734045

Park, Joohan ; Yun, Dongwon ; Park, Dong Il et al. / Dynamic simulation of joint module with MR damper for mobile rescue robot. 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 157-158 (2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016).

@inproceedings{435b474486ef4fd49fde8dba5b1fee79,

title = "Dynamic simulation of joint module with MR damper for mobile rescue robot",

abstract = "In this paper, we have developed the dual arms manipulator of a rescue robot. This manipulator will be mounted on the mobile robot platform and, this robot will be used to perform rescue operations in extreme environments. The shock vibration occurs from the road when the robot is driving on the rugged terrain. It also adversely affects the robot as well as the rescuer. We propose the joint module utilizing MR(Magneto-Rheological) fluid in order to depress impact vibration from the environment. Also we have performed dynamic simulations on the dual arms manipulator considering vertically impact acceleration and analyzed the driving torque generated in the joint module.",

keywords = "Joint with MR damper, MR fluid, Rescue robot",

author = "Joohan Park and Dongwon Yun and Park, \{Dong Il\} and Chanhun Park",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 ; Conference date: 19-08-2016 Through 22-08-2016",

year = "2016",

month = oct,

day = "21",

doi = "10.1109/URAI.2016.7734045",

language = "English",

series = "2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016",

}

Park, J, Yun, D, Park, DI & Park, C 2016, Dynamic simulation of joint module with MR damper for mobile rescue robot. in 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016., 7734045, 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016, Institute of Electrical and Electronics Engineers Inc., pp. 157-158, 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016, Xian, China, 19/08/16. https://doi.org/10.1109/URAI.2016.7734045

Dynamic simulation of joint module with MR damper for mobile rescue robot. / Park, Joohan; Yun, Dongwon; Park, Dong Il et al.
2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 157-158 7734045 (2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Dynamic simulation of joint module with MR damper for mobile rescue robot

AU - Park, Joohan

AU - Yun, Dongwon

AU - Park, Dong Il

AU - Park, Chanhun

PY - 2016/10/21

Y1 - 2016/10/21

N2 - In this paper, we have developed the dual arms manipulator of a rescue robot. This manipulator will be mounted on the mobile robot platform and, this robot will be used to perform rescue operations in extreme environments. The shock vibration occurs from the road when the robot is driving on the rugged terrain. It also adversely affects the robot as well as the rescuer. We propose the joint module utilizing MR(Magneto-Rheological) fluid in order to depress impact vibration from the environment. Also we have performed dynamic simulations on the dual arms manipulator considering vertically impact acceleration and analyzed the driving torque generated in the joint module.

AB - In this paper, we have developed the dual arms manipulator of a rescue robot. This manipulator will be mounted on the mobile robot platform and, this robot will be used to perform rescue operations in extreme environments. The shock vibration occurs from the road when the robot is driving on the rugged terrain. It also adversely affects the robot as well as the rescuer. We propose the joint module utilizing MR(Magneto-Rheological) fluid in order to depress impact vibration from the environment. Also we have performed dynamic simulations on the dual arms manipulator considering vertically impact acceleration and analyzed the driving torque generated in the joint module.

KW - Joint with MR damper

KW - MR fluid

KW - Rescue robot

UR - https://www.scopus.com/pages/publications/85000402198

U2 - 10.1109/URAI.2016.7734045

DO - 10.1109/URAI.2016.7734045

M3 - Conference contribution

AN - SCOPUS:85000402198

T3 - 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016

SP - 157

EP - 158

BT - 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016

Y2 - 19 August 2016 through 22 August 2016

ER -

Park J, Yun D, Park DI, Park C. Dynamic simulation of joint module with MR damper for mobile rescue robot. In 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 157-158. 7734045. (2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016). doi: 10.1109/URAI.2016.7734045

Dynamic simulation of joint module with MR damper for mobile rescue robot

Abstract

Publication series

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Bibliographical note

Keywords

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