Affiliation:
1. Advanced Robotics and Automated Systems (ARAS) Laboratory, Department of Mechanical Engineering, Khaje Nasir Toosi University of Technology, P.O. Box 19395-1999, Tehran 19991 43344, Iran
Abstract
The design procedure of ResQuake as a tele-operative rescue robot and its dynamics analysis, manufacturing procedure, control system, and slip estimation for performance improvement are discussed. First, the general task to be performed by the robot is defined, and various mechanisms to form the basic structure of the robot are discussed. Choosing the appropriate mechanisms, geometric dimensions, and mass properties are detailed to develop kinematic and dynamic models for the system. Next, the strength of each component is analyzed to finalize its shape, and the mechanism models are presented. Then, the control system is briefly described, which includes the operator’s PC as the master processor, and the laptop installed on the robot as the slave processor. Finally, slip coefficients of tracks are identified and validated by experimental tests to improve the system tracking performance. ResQuake has participated with distinction in several rescue robot leagues.
Subject
Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials
Cited by
9 articles.
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