Academic Journal
Radiation-resistant robotic manipulator controlled by 6-DoF haptic control device to perform technological tasks in hot cells
| العنوان: | Radiation-resistant robotic manipulator controlled by 6-DoF haptic control device to perform technological tasks in hot cells |
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| المؤلفون: | Prikhodko, V V, Sobolev, A A, Zhukov, A V, Chavkin, E M, Fomin, A N, Levshchanov, V V, Pavlov, S V, Svetukhin, V V |
| المصدر: | Journal of Physics: Conference Series ; volume 1353, issue 1, page 012045 ; ISSN 1742-6588 1742-6596 |
| بيانات النشر: | IOP Publishing |
| سنة النشر: | 2019 |
| الوصف: | The paper describes the results of developing a radiation-hardened robotic complex including the following original constituting elements: a robotic manipulator with a 2-finger gripper, a 6-DoF control device with force feedback, control software. The implementation of rotational motion of joints of the robotic manipulator through coaxial gear shafts resulted in its high resistance to ionizing radiation of up to 10 7 Gy. The control device features high ergonomics similar to that of mechanical master-slave manipulators. The control software has a modular structure and contains both original and the state-of-the-art program components. A prototype of the robotic complex was built which demonstrated the capability of performing typical technological operations in a demo hot cell in both manual and automated modes. |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | unknown |
| DOI: | 10.1088/1742-6596/1353/1/012045 |
| DOI: | 10.1088/1742-6596/1353/1/012045/pdf |
| الاتاحة: | http://dx.doi.org/10.1088/1742-6596/1353/1/012045 https://iopscience.iop.org/article/10.1088/1742-6596/1353/1/012045/pdf https://iopscience.iop.org/article/10.1088/1742-6596/1353/1/012045 |
| Rights: | http://creativecommons.org/licenses/by/3.0/ ; https://iopscience.iop.org/info/page/text-and-data-mining |
| رقم الانضمام: | edsbas.B6F91A49 |
| قاعدة البيانات: | BASE |
| DOI: | 10.1088/1742-6596/1353/1/012045 |
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