2A1-O06 Development of Fluid Ropeway Aiming Smooth Traversing in Half-collapsed Buildings : 4th report: Methods for Traversing Various Obstacles(Search and Rescue Robot and Mechatronics(1))

Abstract

This study proposes a novel rescue robot named "Fluid Ropeway". As its name suggests, it is driven by fluid powered actuator. The actuator is called "A-drive" and composed of a flat tube and a slider. The slider bends the tube to form a buckling point and the point cuts off the fluid flow in order to provide the driving force. First of all, this paper aims to verify the relationship between the shape of the robot and the capability to traverse obstacles. Second of all, this paper states the transformation mechanism of the gondola by steering arms to traverse various obstacles.