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Semicircular duplex manipulator for rescue operation: size and weight reduction

Semicircular duplex manipulator for rescue operation: size and weight reduction To prevent secondary disasters and to emphasise searching ability, the utilisation of robots for rescue operations has attracted considerable attention. However, when operating in completely collapsed wooden houses, conventional rescue mobile robots cannot pass through spaces in the rubble because the size of these spaces is very small. Hence, the development of an endoscope-type rescue robot that is more mobile is necessary. In this study, we redesigned our previous rescue manipulator by downsizing its body while maintaining robustness. As a result, we developed a new small-sized duplex manipulator, and successfully reduced its cross-sectional diameter by 50% and its weight by 75%. Keywords: rescue manipulator; duplex mechanism; semicircular manipulator; passive manipulator. Reference to this paper should be made as follows: Ito, K. and Kimura, S. (2016) `Semicircular duplex manipulator for rescue operation: size and weight reduction', Int. J. Advanced Mechatronic Systems, Vol. 7, No. 2, pp.104­113. Biographical notes: Kazuyuki Ito received his PhD from the Tokyo Institute of Technology in 2002. In 2002, he joined the Department of Systems Engineering, Okayama University as a Research Associate. In 2005, he joined the Department of Systems and Control Engineering, Hosei University as an Assistant Professor. He is currently working as a http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Advanced Mechatronic Systems Inderscience Publishers

Semicircular duplex manipulator for rescue operation: size and weight reduction

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Publisher
Inderscience Publishers
Copyright
Copyright © 2016 Inderscience Enterprises Ltd.
ISSN
1756-8412
eISSN
1756-8420
DOI
10.1504/IJAMECHS.2016.082628
Publisher site
See Article on Publisher Site

Abstract

To prevent secondary disasters and to emphasise searching ability, the utilisation of robots for rescue operations has attracted considerable attention. However, when operating in completely collapsed wooden houses, conventional rescue mobile robots cannot pass through spaces in the rubble because the size of these spaces is very small. Hence, the development of an endoscope-type rescue robot that is more mobile is necessary. In this study, we redesigned our previous rescue manipulator by downsizing its body while maintaining robustness. As a result, we developed a new small-sized duplex manipulator, and successfully reduced its cross-sectional diameter by 50% and its weight by 75%. Keywords: rescue manipulator; duplex mechanism; semicircular manipulator; passive manipulator. Reference to this paper should be made as follows: Ito, K. and Kimura, S. (2016) `Semicircular duplex manipulator for rescue operation: size and weight reduction', Int. J. Advanced Mechatronic Systems, Vol. 7, No. 2, pp.104­113. Biographical notes: Kazuyuki Ito received his PhD from the Tokyo Institute of Technology in 2002. In 2002, he joined the Department of Systems Engineering, Okayama University as a Research Associate. In 2005, he joined the Department of Systems and Control Engineering, Hosei University as an Assistant Professor. He is currently working as a

Journal

International Journal of Advanced Mechatronic Systems – Inderscience Publishers

Published: Jan 1, 2016

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