Abstract
This research describes the development of a search and rescue mobile robot "Bari-bari-IV", which jacks-up heavy debris while sneaking into a collapsed house. Previous prototypes of the "Bari-bari" series presented some problems, such as traversing uneven terrains, vertical wobbling motion of the debris when sneaking through them, and limited jack-up driving power. Bari-bari-IV is composed of two sets of plates, which are driven in opposite phases in such a way to keep constantly the maximum jack-up height at an overlapping point. In order to realize this method by using a single hydraulic motor, a novel cam is proposed to drive the body back-and-forth and to maintain jack-up height. With this structure, Bari-bari-IV aims sneaking through debris without vertical wobbling motion, traversing uneven terrains and the possibility of jack-up a 1 ton payload. Finally, the effectiveness of Bari-bari-IV is verified by field tests in an environment similar to real situation.
