A Concept for Rapidly-Deployable Cable Robot Search and Rescue Systems

2005 ◽  
Author(s):  
Paul Bosscher ◽  
Robert L. Williams ◽  
Melissa Tummino
Keyword(s):  
Mobile Robots ◽  
Inverse Kinematics ◽  
Search And Rescue ◽  
Kinematic Structure ◽  
Rescue Workers ◽  
Cable Robot ◽  
System Concept ◽  
Moment Resisting ◽  
Calibration Algorithm ◽  
Forward And Inverse Kinematics

This paper introduces a new concept for robotic search and rescue systems. This system uses a rapidly deployable cable robot to augment existing search and rescue mobile robots. This system can greatly increase the range of mobile robots as well as provide overhead views of the disaster site, allowing rescue workers to reach survivors as quickly as possible while minimizing the danger posed to rescue workers. In addition to the system concept, this paper presents a novel kinematic structure for the cable robot, allowing simple translation-only motion (with moment-resisting capability) and easy forward and inverse kinematics for a 3-DOF spatial manipulator. Also, a deployment sequence is described, a rapid calibration algorithm is presented and the workspace of the manipulator is investigated.

A Hybrid Self-Stressed Cable-Driven Mechanism

2008 ◽  
Author(s):  
Saeed Behzadipour
Keyword(s):  
Static Loading ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Tensile Force ◽  
Cable System ◽  
End Effector ◽  
Stiffness Analysis ◽  
Cable Length ◽  
Cable Drive ◽  
Forward And Inverse Kinematics

A new hybrid cable-driven manipulator is introduced. The manipulator is composed of a Cartesian mechanism to provide three translational degrees of freedom and a cable system to drive the mechanism. The end-effector is driven by three rotational motors through the cables. The cable drive system in this mechanism is self-stressed meaning that the pre-tension of the cables which keep them taut is provided internally. In other words, no redundant actuator or external force is required to maintain the tensile force in the cables. This simplifies the operation of the mechanism by reducing the number of actuators and also avoids their continuous static loading. It also eliminates the redundant work of the actuators which is usually present in cable-driven mechanisms. Forward and inverse kinematics problems are solved and shown to have explicit solutions. Static and stiffness analysis are also performed. The effects of the cable’s compliance on the stiffness of the mechanism is modeled and presented by a characteristic cable length. The characteristic cable length is calculated and analyzed in representative locations of the workspace.

Robot navigation: implications from search strategies in exploring crayfish

Robotica ◽  
2009 ◽  
Vol 28 (3) ◽  
pp. 465-475 ◽  
Author(s):  
Edith Heußlein ◽  
Blair W. Patullo ◽  
David L. Macmillan
Keyword(s):  
Mobile Robots ◽  
Computer Model ◽  
Sensory Input ◽  
Robot Navigation ◽  
Search Strategies ◽  
Search And Rescue ◽  
Autonomous Mobile Robots ◽  
Biological Knowledge ◽  
Baseline Algorithm ◽  
Navigation Strategies

SUMMARYBiomimetic applications play an important role in informing the field of robotics. One aspect is navigation – a skill automobile robots require to perform useful tasks. A sub-area of this is search strategies, e.g. for search and rescue, demining, exploring surfaces of other planets or as a default strategy when other navigation mechanisms fail. Despite that, only a few approaches have been made to transfer biological knowledge of search mechanisms on surfaces along the ground into biomimetic applications. To provide insight for robot navigation strategies, this study describes the paths a crayfish used to explore terrain. We tracked movement when different sets of sensory input were available. We then tested this algorithm with a computer model crayfish and concluded that the movement of C. destructor has a specialised walking strategy that could provide a suitable baseline algorithm for autonomous mobile robots during navigation.

A Model of the Human Spine: Forward and Inverse Kinematics

1992 ◽  
Author(s):  
Sunil Kumar Agrawal ◽  
Siyan Li ◽  
Glen Desmier
Keyword(s):  
Range Of Motion ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Joint Angles ◽  
Human Spine ◽  
Forward And Inverse Kinematics ◽  
Position And Orientation ◽  
Three Degrees Of Freedom ◽  
Adjacent Vertebra

Abstract The human spine is a sophisticated mechanism consisting of 24 vertebrae which are arranged in a series-chain between the pelvis and the skull. By careful articulation of these vertebrae, a human being achieves fine motion of the skull. The spine can be modeled as a series-chain with 24 rigid links, the vertebrae, where each vertebra has three degrees-of-freedom relative to an adjacent vertebra. From the studies in the literature, the vertebral geometry and the range of motion between adjacent vertebrae are well-known. The objectives of this paper are to present a kinematic model of the spine using the available data in the literature and an algorithm to compute the inter vertebral joint angles given the position and orientation of the skull. This algorithm is based on the observation that the backbone can be described analytically by a space curve which is used to find the joint solutions..

Concept of system of computer virtual simulation of mobile robototechnical means of technical and environmental events neutralization and solving problems of professional training

2019 ◽  
Vol 24 (3-4) ◽  
pp. 7-16
Author(s):  
Koval A. ◽  
◽  
Keyword(s):  
Mobile Robots ◽  
Professional Training ◽  
Search And Rescue ◽  
Virtual Simulation ◽  
Virtual Design ◽  
Existing Problems ◽  
Specialized Software ◽  
Environmental Events ◽  
And Behavior ◽  
Direct Implementation

Today, the problem of virtual design, modeling and testing of mobile robots prior to their direct implementation «in the metal» is quite urgent. The article reviews the technologies used for this purpose and discusses the approach to creating specialized software complexes aimed at solving existing problems in existing technologies. The concept of the program is proposed for modeling problems of structure and behavior of mobile robots with elements of artificial intelligence, intended to support search and rescue operations in a combination of environments (air, ground, underwater) and for the professional training of relevant specialists.

scholarly journals Modeling the Kinematics of Two Robots with Denavit–Hartenberg Notation

2020 ◽  
Vol 44 (4) ◽  
pp. 121-128
Author(s):  
Andrzej Burghardt ◽  
Wincenty Skwarek
Keyword(s):  
Mobile Robots ◽  
Inverse Kinematics ◽  
Wheeled Mobile Robots ◽  
Matlab Simulink ◽  
Kinematics Model

AbstractThis article presents a description and methodology for building a kinematics model for the formation of two-wheeled mobile robots transporting a beam using Denavit–Hartenberg notation. The simple and inverse kinematics tasks of this formation were solved. Solutions of kinematics tasks are presented in junction coordinates and global coordinates. The obtained results were simulated using the Matlab–Simulink package together with animation of the solution using a programmed emulator of robot work.

Seamless Routing and Cooperative Localization of Multiple Mobile Robots for Search and Rescue Application

ETRI Journal ◽  
2015 ◽  
Vol 37 (2) ◽  
pp. 262-272 ◽  
Author(s):  
Chang-Eun Lee ◽  
Hyun-Ja Im ◽  
Jeong-Min Lim ◽  
Young-Jo Cho ◽  
Tae-Kyung Sung
Keyword(s):  
Mobile Robots ◽  
Search And Rescue ◽  
Cooperative Localization ◽  
Multiple Mobile Robots

scholarly journals Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Robotics ◽  
2018 ◽  
Vol 7 (3) ◽  
pp. 48 ◽  
Author(s):  
Ruiqin Li ◽  
Hongwei Meng ◽  
Shaoping Bai ◽  
Yinyin Yao ◽  
Jianwei Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Step Length ◽  
Parallel Robot ◽  
Search Method ◽  
Walking Robot ◽  
Gait Control ◽  
Gait Planning ◽  
Forward And Inverse Kinematics ◽  
Passing Ability

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.

Sign in / Sign up

Export Citation Format

Share Document