Development of semi-circular duplex manipulator for search and rescue operations in narrow spaces

摘要

The application of robots to rescue operations has attracted considerable attention. However, at real disaster sites the spaces between rubbles are sometimes so narrow that conventional rescue robots cannot pass through them. Hence, the development of a robotised endoscope with the advantages of both robots and industrial endoscopes is anticipated. In this study, a rescue manipulator was developed to search for survivors. This manipulator has a duplex mechanism and comprises two passive manipulators with a locking mechanism. One manipulator can move in the desired direction while being guided by the other manipulator; by alternating manipulators, the duplex manipulator can be moved to the desired position. Different experiments were conducted using artificial rubble to demonstrate that the proposed manipulator can search for target objects in a disaster site.