A Novel Reconfigurable Robot for Urban Search and Rescue

International Journal of Advanced Robotic Systems

关键词: Mobile robot;    Docking mechanism;    Serial and parallel mechanism;    Locomotion capabilities;   

DOI  :  10.5772/5719

学科分类：自动化工程

来源: InTech

【 摘 要 】

This paper presents a novel mobile robot for urban search and rescue based on reconfiguration. The system consists of three identical modules; actually each module is an entire robotic system that can perform distributed activities. To achieve highly adaptive locomotion capabilities, the robot's serial and parallel mechanisms form an active joint, enabling it to change its shape in three dimensions. A docking mechanism enables adjacent modules to connect or disconnect flexibly and automatically. This mechanical structure and the control system are introduced in detail, followed by a description of the locomotion capabilities. In the end, the successful on-site tests confirm the principles described above and the robot's ability.

【 授权许可】

CC BY