Volume 15, Issue 4 (2015)                   Modares Mechanical Engineering 2015, 15(4): 321-330 | Back to browse issues page

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Miripour Fard B, Hassani A, Farhani S, Najari M J. Design and fabrication of a minesweeper spider robot based on the klann mechanism. Modares Mechanical Engineering. 2015; 15 (4) :321-330
URL: http://journals.modares.ac.ir/article-15-8456-en.html
1- Head of Robotics Eng. Dept
Abstract:   (4720 Views)
In this paper, designing and fabrication of a prototype of the spider robot is presented. The mechanical and electrical design of the robot is described and then programming and control are addressed. First, after surveying of various mechanisms for legged locomotion, the Klann mechanism has been selected for robot locomotion. The mechanical model has been build using CATIA software and simulations have been done for validation of the performance of the m. The spider-like robot has eight legs. To add the ability of mine detection to the robot, PI metal detector circuit has been designed and made. This circuit has the ability to detect metal but does not recognize the type of metal and its range is about 1 m. Tele-operation control method has been used to control the robot in which the operator can remotely (up to a radius of 300 m) control the robot using a computer. The performance of the robot can be improved using metal detectors circuit. The advantages of spider robot with Klann mechanism is easily tackling of the obstacles and maintaining the balance on uneven terrain or sandy surfaces.
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Article Type: Research Article | Subject: robatic
Received: 2015/01/7 | Accepted: 2015/02/7 | Published: 2015/03/7

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