HUMAN ARM-LIKE MECHANICAL MANIPULATOR - The Design and Development of a Multi -Arm Mobile Robot for Nuclear Decommissioning

Mohamed J. Bakari, Derek W. Seward

2006

Abstract

This paper reviews the design and development of a human arm-like mechanical manipulator, which is the basis of research currently being undertaken at Lancaster University, in order to address the complex tasks found in the rapidly expanding field of nuclear decommissioning. The requirements of multi-arm robot architecture for use in decommissioning tasks are discussed. The manipulators are integrated to work cooperatively and perform similar functions to humans in both scale and dexterity. The role that automation and robotics can play in enabling quicker demolition and at the same time reducing the exposure of workers to harmful radiation is examined. The key issues surrounding radioactive materials and safe dose levels are explained. The different stages of a particular system engineering process are outlined together with the essential physical steps. The paper will conclude by identifying the compliance of the system engineering used here with the requirements of designing a multi-arm robot.

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Paper Citation


in Bibtex Style

@conference{icinco06,
author={Mohamed J. Bakari and Derek W. Seward},
title={HUMAN ARM-LIKE MECHANICAL MANIPULATOR - The Design and Development of a Multi -Arm Mobile Robot for Nuclear Decommissioning},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={168-175},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001214501680175},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - HUMAN ARM-LIKE MECHANICAL MANIPULATOR - The Design and Development of a Multi -Arm Mobile Robot for Nuclear Decommissioning
SN - 978-972-8865-60-3
AU - J. Bakari M.
AU - W. Seward D.
PY - 2006
SP - 168
EP - 175
DO - 10.5220/0001214501680175


in Harvard Style

J. Bakari M. and W. Seward D. (2006). HUMAN ARM-LIKE MECHANICAL MANIPULATOR - The Design and Development of a Multi -Arm Mobile Robot for Nuclear Decommissioning . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 168-175. DOI: 10.5220/0001214501680175