Design and research of a new structure rescue snake robot with all body drive system

Abstract

After earthquake, many people are buried under ruins. Rescue is very important in the first 48 hours. Snake robot is a very useful tool in climbing into ruins to detect people. This paper designs a new snake robot with all body drive system based on rope system. All snake robot body has drive ropes to drive it move. It is simple in drive system and control system. Any point touched ground, wall or roof can have drive force. A force feed back system is in snake robot body. Snake robot knows all force it touching and know environment. Force feedback control is used to cross obstacle. Snake body can auto controlled to make a detour to avoid obstacle. This snake can climb into ruins to detect people and control is simple than other snake robots. It is a practical scheme in disaster rescue robot in earthquake ruins.