Fabrication and testing of the rescue quadruped robot for post-disaster search and rescue operations

Abstract

In today's disaster-prone society, using intelligent footed robots to assist in rescue or exploration of the situation is more promising than other types of intelligent robots, as quadrupeds have better terrain adaptation capabilities and application prospects. The main objective of this paper is to design a rescue quadruped robot. The single-leg mechanical structure was designed as a parallel two-degree-of-freedom five-link mechanical leg, and the leg five-link structure was simulated through Matlab simulation to prove the rationality of the structure. The geometry design was then set to a length and width of 800m and 400m, respectively, and the internal structure was modelled through dimensioning and leg motion analysis to obtain a leg size of 220mm for the large leg and 130mm for the small leg of quadrupedal robot. Its rescue quadruped robot can achieve essential gait such as walking, running and jumping. Matlab simulations of the leg structure of the quadruped robot were carried out to obtain a single leg end motion range for a stride frequency of 0.0035 and a step length of 100 mm. The proposed rescue quadruped robot has several advantages: small heavy load ratio, high accuracy, strength, stiffness, and high load-carrying capacity. In rescue and disaster relief situations, it can carry many supplies, which is more suitable for dangerous conditions or narrow spaces. Moreover, the quadruped robot is easy to operate and assist rescuers. The experimental result is a complete parallel quadruped robot adding a regulation and vision acquisition system, which is more suitable for rescue or aid rescue.