Yu, Seungnam Choi, Changhwan Lee, Seungyeol Lee, Jeongyeob Han, Changsoo 2024-01-20T17:05:05Z 2024-01-20T17:05:05Z 2021-09-02 2011-04 1738-494X https://pubs.kist.re.kr/handle/201004/130472 This paper presents a servo motor selection technique for a mobile mine detection system which is operated in the field condition. As a first step, mine detection sensor should follow the earth profile while maintaining a constant distance to the earth surface. In order to acquire a reasonable manipulator trajectory and its required torque, a kind of modeling technique is devised to remove the unwanted fluctuations in the earth data. Then, Straete et al.'s normalization method is adopted and is improved to select the adequate actuator for each joint of manipulator. The improvements are as follows: First, an equivalent output power lines are plotted at the same load curve, which gives another selection criterion. Second, a temperature based criterion is proposed for the continuous limit, which estimates the steady state winding temperature of a motor, and can be used to determine a suitable motor and gear ratio. This formulation gives not only the selection of a motor and gear ratio, but also gives the estimated operating temperature. Finally, realized system is verified through the basic performance test. English KOREAN SOC MECHANICAL ENGINEERS DYNAMICS SELECTION LINKS Development of an articulated mine-detecting manipulator system for mobile robots Article 10.1007/s12206-011-0211-8 1 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.25, no.4, pp.1051 - 1060 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 25 4 1051 1060 scie scopus kci ART001537885 000289534400027 2-s2.0-79959266815 Engineering, Mechanical Engineering Article DYNAMICS SELECTION LINKS Mine detection Wheeled manipulator Performance analysis Mobile robot