3D-free rescue robot system

摘要

This paper introduces a 3D-free rescue robot system which mainly consists of a moving vehicle with automatic outriggers, a 3D reaching arm and a spring balancer. This robot system lightens the weight of firemen at rescue activities on this system, supports his/her rescue activities by widening his/her working area, and reduces various risks entailing for the activities. The spring balancer is added with new functions for improvement, including high-performance passive dynamic control (PDC). Furthermore, the safety of this robot system is examined especially on fail-safe interlock