Mechanical design for wheel/track transform mobile platform-search and rescue robot

2014 ◽  
Author(s):  
Ansi Peng ◽  
Yimin Zhou ◽  
Jianbing Hu ◽  
Yongsheng Ou
Keyword(s):  
Mechanical Design ◽  
Search And Rescue ◽  
Mobile Platform ◽  
Rescue Robot ◽  
Wheel Track

Design and control of a mobile hyper-redundant urban search and rescue robot

2005 ◽  
Vol 19 (3) ◽  
pp. 221-248 ◽  
Author(s):  
Alon Wolf ◽  
Howard H. Choset ◽  
Benjamin H. Brown ◽  
Randall W. Casciola
Keyword(s):  
Search And Rescue ◽  
Urban Search And Rescue ◽  
Rescue Robot ◽  
And Control

Dynamics and Controller Design of a Screw Wheel Drive Holonomic Rescue Robot

2012 ◽  
Author(s):  
Emin Faruk Kececi
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Controller Design ◽  
Mechanical Design ◽  
Future Research ◽  
Rescue Robot ◽  
Wheel Drive ◽  
The Stability ◽  
Adaptive Control Algorithm ◽  
Future Work

This paper reports a holonomic rescue robot where the robot is driven by screw wheels. The necessity of a such platform is explained and the mechanical design and the actual prototype are presented. In order to design an adaptive control algorithm to ensure the trajectory tracking, the dynamical model is constructed. The stability of the adaptive control algorithm is proven with Lyapunov stability analysis. The necessary electronics to implement the controller algorithm is explained and the conclusions and future work section reports the results of the study as well as the future research directions.

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