Variable geometry single-tracked mechanism for a rescue robot

Abstract

There have been numerous studies directed toward the development of driving mechanisms for off-road mobility and various utilities of rescue robots. To achieve objectives such as surveillance, reconnaissance, and rescue, it is necessary to develop a driving mechanism that can handle off-road environments. We propose a new type of driving mechanism for a rescue robot that has a variable geometry single-track. This mechanism has a symmetric configuration so that the robot advances in dual directions and prepares against overturning. By using transformation, it can reduce the energy consumption in steering and rotating and also maximize the ability to overcome obstacles such as stairs. It is also designed with consideration of compact size and low center of gravity for driving on stairs. In this paper, we analyzed the design parameters for 4 phases of climbing stairs and determined the specifications of the robot to enhance adaptability to stairs