A Concept for Rapidly-Deployable Cable Robot Search and Rescue Systems
A Concept for Rapidly-Deployable Cable Robot Search and Rescue Systems
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DOI：
10.1115/detc2005-84324
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
P. Bosscher;Robert L. Williams;Melissa Tummino
中科院分区：
文献类型：
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作者：
P. Bosscher;Robert L. Williams;Melissa Tummino
本文介绍了一种新的机器人搜索和救援系统的概念。该系统使用一个快速部署的电缆机器人，以增加现有的搜索和救援移动的机器人。该系统可以大大增加移动的机器人的范围，并提供灾难现场的俯视图，使救援人员能够尽快接触到幸存者，同时最大限度地减少对救援人员构成的危险。除了系统的概念，本文提出了一种新的运动学结构的电缆机器人，允许简单的摆动只有运动（与力矩抵抗能力）和易于正向和反向运动学的3自由度空间机械手。此外，还描述了一个部署序列，提出了一种快速校准算法，并研究了机械手的工作空间。Copyright © 2005 by ASME
This paper introduces a new concept for robotic search and rescue systems. This system uses a rapidly deployable cable robot to augment existing search and rescue mobile robots. This system can greatly increase the range of mobile robots as well as provide overhead views of the disaster site, allowing rescue workers to reach survivors as quickly as possible while minimizing the danger posed to rescue workers. In addition to the system concept, this paper presents a novel kinematic structure for the cable robot, allowing simple translation-only motion (with moment-resisting capability) and easy forward and inverse kinematics for a 3-DOF spatial manipulator. Also, a deployment sequence is described, a rapid calibration algorithm is presented and the workspace of the manipulator is investigated.Copyright © 2005 by ASME