Development of semi–circular duplex manipulator for search and rescue operations in narrow spaces
Development of semi–circular duplex manipulator for search and rescue operations in narrow spaces
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狭小空间搜救半圆双工机械臂的研制
DOI：
10.1504/ijamechs.2014.066928
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发表时间：
2014
影响因子：
--
通讯作者：
Yuya Simodate
中科院分区：
文献类型：
--
作者：
Kazuyuki Ito;Yuya Simodate
机器人在救援行动中的应用已经引起了相当大的关注。然而，在真实的灾难现场，瓦砾之间的空间有时是如此狭窄，以至于传统的救援机器人无法通过。因此，预计将开发具有机器人和工业内窥镜优点的机器人内窥镜。在这项研究中，一个救援机械手的开发，以寻找幸存者。该机械手具有双重机构，包括两个具有锁定机构的被动机械手。一个机械手可以在另一个机械手的引导下沿所需方向移动;通过交替机械手，双联机械手可以移动到所需位置。使用人工碎石进行了不同的实验，以证明所提出的机械手可以搜索在灾难现场的目标对象。
The application of robots to rescue operations has attracted considerable attention. However, at real disaster sites the spaces between rubbles are sometimes so narrow that conventional rescue robots cannot pass through them. Hence, the development of a robotised endoscope with the advantages of both robots and industrial endoscopes is anticipated. In this study, a rescue manipulator was developed to search for survivors. This manipulator has a duplex mechanism and comprises two passive manipulators with a locking mechanism. One manipulator can move in the desired direction while being guided by the other manipulator; by alternating manipulators, the duplex manipulator can be moved to the desired position. Different experiments were conducted using artificial rubble to demonstrate that the proposed manipulator can search for target objects in a disaster site.