Conception of a Tendon-Sheath and Pneumatic System Driven Soft Rescue Robot

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 345)

Abstract

The rescuing robot can help the workers a lot in searching and rescuing survivors. The design of a tendon-sheath and pneumatic system driven rescue robot is proposed in this dissertation. The robot is designed to solve the insert problem into the ruins and provide some necessary help for the survivor fined by the rescue robot. The introduction of the robot in this paper is divided into two parts: the introduction of mechanical structure and the control system. The robot consists of a searching head, a flexible slender arm, display terminal and a driving unit. The searching head is the most important part of the whole system which is comprised of two pneumatic actuators and a backbone spring. The driving unit is composed of the tendon-sheath, servos, solenoid valves and an air pump, all of these elements are control by MCU. The whole robot system can be packed into a suit case for better carrying.

Keywords

searching and rescuing robot soft robot Tendon-Sheath-Driven 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Casper, J., Murphy, R.R., Micire, M.: Issues in Intelligent Robots for Search and Rescue. In: SPIE Ground Vehicle Technology II, Orlando, FL, pp. 292–302 (2000)Google Scholar
  2. 2.
    Yun, C.: Analysis on the Key Disaster Factors of Seismic Mountain Hazards Chains. In: 2010 International Conference on Remote Sensing, Hangzhou, China, October 5-6, pp. 245–248 (2010)Google Scholar
  3. 3.
    Wolf, A., Choset, H.H., et al.: Design and control of a mobile hyper-redundant urban search and rescue robot. Advanced Robotics 19(3), 221–248 (2005)CrossRefGoogle Scholar
  4. 4.
    Wright, C., Buchan, A., Brown, B., et al.: Design and Architecture of The Unified Modular Snake Robot. In: 2012 IEEE International Conference on Robotics and Automation River Centre, Saint Paul, Minnesota, USA, May 14-18, pp. 4347–4354 (2012)Google Scholar
  5. 5.
    Chen, L., Wang, X., Tian, F.: Tendon-Sheath Actuated Robot and Transmission System. In: International conference on Mechatronics and Automation, Changchun, China, pp. 3173–3178 (2009)Google Scholar
  6. 6.
    Jiang, M.: Long-Thin Multisensory Mobile Robot For Interior Debris Searching. Shanghai Jiao Tong University, Shanghai (2012)Google Scholar
  7. 7.
    Yoon, H.-S., Oh, S.M., et al.: Active Bending Endoscope Robot System for Navigation through Sinus Area. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA, September 25-30, pp. 967–972 (2011)Google Scholar
  8. 8.
    Yanagida, T., Adachi, K., et al.: Development of a peristaltic crawling robot attached to a large intestine endoscope using bellows - type artificial rubber muscles. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, October 7-12, pp. 2935–2940 (2012)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.School of mechanical engineeringSoutheast UniversityNanjingChina

Personalised recommendations