Mechanical Design Challenges in Rescue Robot Prototyping

2015 ◽  
pp. 79-96
Keyword(s):  
Mechanical Design ◽  
Rescue Robot ◽  
Design Challenges

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.

Structure Design and Analysis of Rescue Robot

2012 ◽  
Vol 190-191 ◽  
pp. 729-732
Author(s):  
Hong Cheng ◽  
Hong Chao Fan ◽  
Hai Fei Lin ◽  
Cong Li ◽  
Yu Peng Mao ◽  
...  
Keyword(s):  
Mechanical Design ◽  
Structure Design ◽  
Zhejiang Province ◽  
Rescue Work ◽  
Rescue Robot ◽  
Wheel Drive ◽  
Wide Range ◽  
Design Competition ◽  
Four Wheel Drive ◽  
And Control

It becomes the urgent and necessary to the development about wide range of manufacturing a multi-functional and human intelligence rescue robots because of difficulty of rescuing the wounded person in a disaster such as earthquakes and other disasters. A rescue robot prototype has been designed, assembled and commissioned based on the rescue mission and rescue needs of the students in Zhejiang Province mechanical design contest. The rescue robot is able to implement going through the tunnel and the bridge, removing the rescue objectives and other actions tasks. The rescue robot has a structure of four-wheel drive, variable center distance which can improve the ability of walking on the bridge and grabbing the rescue target by suction cups to complete the contest tasks. Experiment verified that the design of actuators and control system is reasonable. It took a total of 1 minute 18 seconds to complete the rescue work in Zhejiang Province mechanical design competition.

Optimal Design and Fabrication of “CEDRA” Rescue Robot Using Genetic Algorithm

2004 ◽  
Author(s):  
A. Meghdari ◽  
H. N. Pishkenari ◽  
A. L. Gaskarimahalle ◽  
S. H. Mahboobi ◽  
R. Karimi
Keyword(s):  
Genetic Algorithm ◽  
Mechanical Design ◽  
Design Parameters ◽  
Robot Design ◽  
Preliminary Step ◽  
Laboratory Environment ◽  
Rescue Robot ◽  
Optimum Parameters ◽  
And Control ◽  
Clean Laboratory

This article presents an overview of the mechanical design features, fabrication and control of a Rescue Robot (CEDRA) for operation in unstructured environments. As a preliminary step, the essential characteristics of a robot in damaged and unstable situations have been established. According to these features and kinematical equations of the robot, design parameters are optimized by means of Genetic Algorithm. Optimum parameters are then utilized in construction. Upon fabrication, this unit has been tested in clean laboratory environment, as well as, ill-conditioned arenas similar to earthquake zones. The obtained results have been satisfactory in all aspects, and improvements are currently underway to enhance capabilities of the rescue robot unit for various applications.

scholarly journals Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Soheil Habibian ◽  
Mehdi Dadvar ◽  
Behzad Peykari ◽  
Alireza Hosseini ◽  
M. Hossein Salehzadeh ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mechanical Design ◽  
Field Performance ◽  
Fire Department ◽  
Urban Search And Rescue ◽  
Rescue Robot ◽  
Design And Implementation ◽  
Manipulation System ◽  
And Control ◽  
High Degree

AbstractRescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles. Although a wide variety of designs and implementations have been presented within the field of rescue robotics, embedding all mobility, dexterity, and reconnaissance capabilities in a single robot remains a challenging problem. This paper explains the design and implementation of Karo, a mobile robot that exhibits a high degree of mobility at the side of maintaining required dexterity and exploration capabilities for urban search and rescue (USAR) missions. We first elicit the system requirements of a standard rescue robot from the frameworks of Rescue Robot League (RRL) of RoboCup and then, propose the conceptual design of Karo by drafting a locomotion and manipulation system. Considering that, this work presents comprehensive design processes along with detail mechanical design of the robot’s platform and its 7-DOF manipulator. Further, we present the design and implementation of the command and control system by discussing the robot’s power system, sensors, and hardware systems. In conjunction with this, we elucidate the way that Karo’s software system and human–robot interface are implemented and employed. Furthermore, we undertake extensive evaluations of Karo’s field performance to investigate whether the principal objective of this work has been satisfied. We demonstrate that Karo has effectively accomplished assigned standardized rescue operations by evaluating all aspects of its capabilities in both RRL’s test suites and training suites of a fire department. Finally, the comprehensiveness of Karo’s capabilities has been verified by drawing quantitative comparisons between Karo’s performance and other leading robots participating in RRL.

A Review of Bird-Inspired Flapping Wing Miniature Air Vehicle Designs

2012 ◽  
Vol 4 (2) ◽  
Author(s):  
John W. Gerdes ◽  
Satyandra K. Gupta ◽  
Stephen A. Wilkerson
Keyword(s):  
Mechanical Design ◽  
Aerodynamic Characteristics ◽  
Flapping Wing ◽  
Research Groups ◽  
Air Vehicle ◽  
Different Types ◽  
Comprehensive Listing ◽  
Test Flight ◽  
Distinguishing Features ◽  
Design Challenges

Physical and aerodynamic characteristics of a bird in flight offer benefits over typical propeller or rotor driven miniature air vehicle (MAV) locomotion designs in certain applications. A number of research groups and companies have developed flapping wing vehicles that attempt to harness these benefits. The purpose of this paper is to report different types of flapping wing miniature air vehicle designs and compare their salient characteristics. This paper is focused on mechanical design aspects of mechanisms and wings. The discussion presented will be limited to miniature-sized flapping wing air vehicles, defined as 10 to 100 g total weight. The discussion will be focused primarily on designs which have performed at least one successful test flight. This paper provides representative designs in each category, rather than providing a comprehensive listing of all existing designs. This paper will familiarize a newcomer to the field with existing designs and their distinguishing features. By studying existing designs, future designers will be able to adopt features from other successful designs. This paper also summarizes the design challenges associated with the further advancement of the field and deploying flapping wing vehicles in practice.

Fire Rescue Robot Design Based on Solidworks

2014 ◽  
Vol 940 ◽  
pp. 254-257
Author(s):  
Rong Zhang ◽  
Wen Ping Wang ◽  
Zhi Qiang Shi ◽  
Jun Hu ◽  
Peng Fei Xu ◽  
...  
Keyword(s):  
Simulation Model ◽  
Mechanical Design ◽  
Robot Design ◽  
Software Simulation ◽  
Rescue Robot ◽  
Structure Reliability ◽  
Overall Performance ◽  
The Stability ◽  
Theory Research ◽  
3D Software

This paper introduces the fire rescue the robot's stability of the mechanical design and theory research. Through the Solidworks 3d software simulation model is established, and summarizes the analysis of its mechanical structure reliability and the stability of the overall performance, help to promote the equipment used in our country in the process of fire rescue..

The new CM-Series TEMs: integration of a five-axis motorized, fully computer-controlled goniometer

1993 ◽  
Vol 51 ◽  
pp. 258-259
Author(s):  
Marc J.C. de Jong ◽  
P. Emile S.J. Asselbergs ◽  
Max T. Otten
Keyword(s):  
Mechanical Design ◽  
Computer Control ◽  
Objective Lens ◽  
Access Port ◽  
Vibration Stability ◽  
Transmission Electron ◽  
Computer Controlled ◽  
High Degree ◽  
Five Axis ◽  
Five Axes

A new step forward in Transmission Electron Microscopy has been made with the introduction of the CompuStage on the CM-series TEMs: CM120, CM200, CM200 FEG and CM300. This new goniometer has motorization on five axes (X, Y, Z, α, β), all under full computer control by a dedicated microprocessor that is in communication with the main CM processor. Positions on all five axes are read out directly - not via a system counting motor revolutions - thereby providing a high degree of accuracy. The CompuStage enters the octagonal block around the specimen through a single port, allowing the specimen stage to float freely in the vacuum between the objective-lens pole pieces, thereby improving vibration stability and freeing up one access port. Improvements in the mechanical design ensure higher stability with regard to vibration and drift. During stage movement the holder O-ring no longer slides, providing higher drift stability and positioning accuracy as well as better vacuum.

Sign in / Sign up

Export Citation Format

Share Document