Development of big danger disposal manipulator - Proposal and mechatronic system design -

This paper describes the basic proposal and mechatronic system design of a novel developed big danger disposal manipulator, named as ldquoBIG HANDrdquo in the later chapters. It is developed mainly for rescue and public security purpose, and is supposed to have real application in public sites such as airports, stations, and so on, while being carried by some powerful mobile equipment. Among dozens of similar purpose manipulators having been developed, the one published here has following characteristics in mechatronic system, which seldom has been implemented integratedly before: redundant in DOF (degree of freedom) - 7 including 1 in gripper; big in size - with maximum 4.4 m in length; big in payload ability - 32 kg in its horizontal full extension posture; multi-sensor integrated system. We discuss the necessity of building such a ldquoBIGrdquo and redundant manipulator; analyze its design difficulty and realization in mechanism, also report the basic experiments in this paper.