A Novel USAR Digging Mechanism

摘要

The uncertain and dynamic terrain within an urban search and rescue (USAR) scenario presents an enormous challenge to the mobility of any robotic platform. To maximise the chance of success the design must be performed with consideration of the likely target environment. Current knowledge on building collapse debris fields suggest that robots must be able to move through and underneath debris utilizing void spaces. Due to the likely chance of void spaces being partially blocked, an USAR robot should have manipulation capability, a very under-explored area of USAR robotics. The moving of debris can be likened to the digging action of some animals such as the European mole. The current work proposes a novel digging mechanism that is simulated using MSC visualNastran 4D and controlled using Matlab Simulink and shown to have distinct efficiency benefits