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A Concept for Rapidly-Deployable Cable Robot Search and Rescue Systems

[+] Author Affiliations
Paul Bosscher, Robert L. Williams, II, Melissa Tummino

Ohio University, Athens, OH

Paper No. DETC2005-84324, pp. 589-598; 10 pages
doi:10.1115/DETC2005-84324
From:
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME

abstract

This paper introduces a new concept for robotic search and rescue systems. This system uses a rapidly deployable cable robot to augment existing search and rescue mobile robots. This system can greatly increase the range of mobile robots as well as provide overhead views of the disaster site, allowing rescue workers to reach survivors as quickly as possible while minimizing the danger posed to rescue workers. In addition to the system concept, this paper presents a novel kinematic structure for the cable robot, allowing simple translation-only motion (with moment-resisting capability) and easy forward and inverse kinematics for a 3-DOF spatial manipulator. Also, a deployment sequence is described, a rapid calibration algorithm is presented and the workspace of the manipulator is investigated.

Copyright © 2005 by ASME
Topics: Robots , Cables

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