Abstract
Search and rescue has become a key technology to be solved, but it is difficult for most rescue robots to implement safe and effective rescue for survivors. Based on two degree of freedom five bar variant scissor mechanism, this paper proposes a design scheme of combined bionic multi-arm cooperative rescue robot actuator. The actuator was designed to imitate elephant trunk, octopus and armadillo and the working track of rescue manipulator is designed by the cross section of human body. The kinematics of the actuator is analyzed based on the vector method, and the positive position solution and Jacobian matrix are obtained. The optimal design parameters of the actuator are determined, and the experimental prototype of the rescue robot actuator is developed, which lays the foundation for the development of the new rescue robot.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Murphy, R.R.: Rescue robotics for homeland security. Commun. ACM 47(3), 66–68 (2004)
Snyder, R.: Robots assist in search and rescue efforts at WTC. IEEE Robot. Automat. Mag. 8, 26–28 (2001)
Casper, J., Murphy, R.R.: Human-robot interaction during the robot-assisted urban search and rescue effort at the world trade center. IEEE Trans. Syst. Man Cybern. Part B Cybern. 33(3), 367–385 (2003)
Davids, A.: Urban search and rescue robots: from tragedy to technology. IEEE Intell. Syst. 17(2), 81–83 (2002)
Chiu, Y., Shiroma, N., Igarashi, H., Sato, N., Inami, M., Matsuno, F.: FUMA: environment information gathering wheeled rescue robot with one-DOF arm. IEEE Int. Saf. Secur. Rescue Robot. 12(5), 81–86 (2005)
Yokokohji, Y., Tubouchi, T., Tanaka, A.: Guidelines for human interface design of rescue robots. In: 2006 SICE-ICASE International Joint Conference, Busan, South Korea, pp. 3455–3460 (2006)
Albiez, J., Ilg, W., Luksch, T., Berns, K., Dillmann, R.: Learning a reactive posture control on the four-legged walking machine BISAM. In: 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, United States (2001)
Yamauchi, B.M.: PackBot: a versatile platform for military robotics. In: 2004 Defense and Security Society For Optics And Photonics, Florida, United States, pp. 228–237 (2004)
Murphy, R.: Marsupial and shape-shifting robots for urban search and rescue. IEEE Intell. Syst. 15(3), 14–19 (2000)
Hunt, A.J., Bachmann, R.J., Murphy, R.R.: A rapidly reconfigurable robot for assistance in urban search and rescue. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, United States, pp. 209–214 (2011)
Leddy, R., Irshad, A., Metcalfe, A.: Comparative accuracy of preoperative tumor size assessment on mammography, sonography, and MRI: is the accuracy affected by breast density or cancer subtype? J. Clin. Ultrasound 44(1), 17–25 (2016)
Ding, J., Lim, Y.-J., Solano, M., Shadle, K.: Giving patients a lift - the robotic nursing assistant (RoNA). In: 2014 IEEE International Conference on Technologies for Practical Robot Applications, Miami, United States, pp. 1–5 (2014)
Choi, B., Lee, W., Park, G., Lee, Y., Min, J., Hong, S.: Development and control of a military rescue robot for casualty extraction task. J. Field Robot. 36(4), 656–676 (2019)
Ravendran, A., Ponpai, P., Yodvanich, P., Faichokchai, W., Hsu, C.-H.: Design and development of a low cost rescue robot with environmental adaptability. In: 2019 International Conference on System Science and Engineering (ICSSE), Dong Hoi, Vietnam, pp. 57–61 (2019)
Acknowledgements
This work was supported in part by the National Key Research and Development Program under Grant (No. 2017YFE0112200), in part by the Science and Technology Department of Hebei Science and Technology Research and Development Plan under Grant (No. 206Z1807G), in part by the Joint Fund Project of Liaoning Natural Science Foundation under Grant (No. 2021KF2206), and in part by Guangdong Province Jihua Laboratory under Grant (No. Y80311w180).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 Springer Nature Switzerland AG
About this paper
Cite this paper
Shan, Y., Zhao, Y., Guo, K., Xu, D., Zhao, W., Yu, H. (2021). Design and Development of Multi-arm Cooperative Rescue Robot Actuator Based on Variant Scissor Mechanism. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_20
Download citation
DOI: https://doi.org/10.1007/978-3-030-89092-6_20
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-89091-9
Online ISBN: 978-3-030-89092-6
eBook Packages: Computer ScienceComputer Science (R0)