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Design and Development of Multi-arm Cooperative Rescue Robot Actuator Based on Variant Scissor Mechanism

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13016))

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Abstract

Search and rescue has become a key technology to be solved, but it is difficult for most rescue robots to implement safe and effective rescue for survivors. Based on two degree of freedom five bar variant scissor mechanism, this paper proposes a design scheme of combined bionic multi-arm cooperative rescue robot actuator. The actuator was designed to imitate elephant trunk, octopus and armadillo and the working track of rescue manipulator is designed by the cross section of human body. The kinematics of the actuator is analyzed based on the vector method, and the positive position solution and Jacobian matrix are obtained. The optimal design parameters of the actuator are determined, and the experimental prototype of the rescue robot actuator is developed, which lays the foundation for the development of the new rescue robot.

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Acknowledgements

This work was supported in part by the National Key Research and Development Program under Grant (No. 2017YFE0112200), in part by the Science and Technology Department of Hebei Science and Technology Research and Development Plan under Grant (No. 206Z1807G), in part by the Joint Fund Project of Liaoning Natural Science Foundation under Grant (No. 2021KF2206), and in part by Guangdong Province Jihua Laboratory under Grant (No. Y80311w180).

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Authors and Affiliations

  1. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, 066004, China

    Yu Shan, Yanzhi Zhao, Dongyang Xu, Wannan Zhao & Haibo Yu

  2. Key Laboratory of Advanced Forging and Stamping Technology and Science, Ministry of Education of China, Yanshan University, Qinhuangdao, 066004, China

    Yu Shan, Yanzhi Zhao, Dongyang Xu, Wannan Zhao & Haibo Yu

  3. Overseas Manufacturing Management Department, CITIC Dicastal Co. Ltd., Qinhuangdao, 066011, China

    Kaida Guo

Authors
  1. Yu Shan
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  2. Yanzhi Zhao
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  3. Kaida Guo
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  4. Dongyang Xu
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  5. Wannan Zhao
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  6. Haibo Yu
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Corresponding author

Correspondence to Yanzhi Zhao .

Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Shan, Y., Zhao, Y., Guo, K., Xu, D., Zhao, W., Yu, H. (2021). Design and Development of Multi-arm Cooperative Rescue Robot Actuator Based on Variant Scissor Mechanism. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_20

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  • DOI: https://doi.org/10.1007/978-3-030-89092-6_20

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89091-9

  • Online ISBN: 978-3-030-89092-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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