Helios VII: a new vehicle for disaster response — mechanical design and basic experiments
Helios VII: a new vehicle for disaster response — mechanical design and basic experiments
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Helios VII：灾难响应的新型运载工具——机械设计和基础实验
DOI：
10.1163/1568553055011492
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发表时间：
2005
影响因子：
2
通讯作者：
S. Hirose
中科院分区：
文献类型：
--
作者：
M. Guarnieri;P. Debenest;T. Inoh;E. F. Fukushima;S. Hirose
履带式车辆对于受灾地区的救援行动和执行任务具有相当重要的意义。人们已经对履带式车辆进行了大量的研究。然而，由于机器人使用的场景多种多样，因此设计具有高地形适应性并能够完成不同任务的车辆非常重要。在概述履带式车辆的优点后，对履带式车辆的重要特点进行了介绍和说明。介绍了用于救援行动的新型履带式车辆Helios VII的概念和机械设计。它由两个独立驱动的履带组成，并配有机械手。本文还介绍了作为机械臂末端执行器的新型夹持器，并对其进行了测试。在第一个组装的原型上进行了基础实验，以验证车辆的运动能力。
Crawler-type vehicles have a considerable importance for rescue operations and tasks performed on disaster-stricken areas. A great deal of research has already been performed on tracked vehicles. However, due to the variety of scenerios in which robots are employed, it is important to design vehicles with high terrain adaptability and that are capable to fulfill different tasks. After an overview of the merits of crawler-type vehicles, the important features of tracked vehicles are introduced and explained. The concept and the mechanical design of a new crawler-type vehicle for rescue operations, named Helios VII, are presented. It consists of two crawlers independently actuated and it is equipped with a manipulator. The novel gripper utilized as an end-effector for the arm is also introduced and tested. Basic experiments on the first assembled prototype are performed to verify the motion capabilities of the vehicle.