GROW-HOSE-I: A HOSE TYPE RESCUE ROBOT PASSING SMOOTHLY THROUGH NARROW RUBBLE SPACES
GROW-HOSE-I: A HOSE TYPE RESCUE ROBOT PASSING SMOOTHLY THROUGH NARROW RUBBLE SPACES
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GROW-HOSE-I：平稳穿过狭窄瓦砾空间的软管式救援机器人
DOI：
10.5739/isfp.2008.815
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
A. Kitagawa
中科院分区：
文献类型：
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作者：
Ichiro Kiryu;H. Tsukagoshi;A. Kitagawa
介绍了一种具有新型运动能力的软管式救援机器人，用于穿越狭窄空间，在废墟下搜寻遇难者。在灾难现场，纤维显微镜和头上装有摄像头的杆子此前被用来搜索遇难者。然而，由于机器人本体与碎片表面之间的摩擦，进入复杂的弯曲和崎岖的空间存在问题。因此，在本研究中，提出了一种软管式机器人Growth-Hose-I，它与快速运动型软管一起生长，可以平稳地移动，软管与地面之间没有摩擦。软管由气动驱动的扁管组成，可以主动弯曲以实现转向。
This paper presents a hose type rescue robot with new movement abilities, for passing through narrow spaces and searching for victims under debris. At the disaster site, the fiber scope and the pole equipped with a camera on its head were previously used to search for victims. However, there are problems with going into complex curved and rugged spaces due to the friction between the robot body and surface of debris. So in this study, the hose type robot named Grow-hose-I, growing with a rapid motion type hose, is proposed which can move smoothly with no friction between the hose and the ground surface. The hose is composed of flat tubes driven by pneumatics, and it can be actively curved to enable steering.