Design of Automatic Insertion System for a Tendon-Sheath-Driven Searching and Rescuing Robot

Abstract

In this paper, an automatic insertion system was designed to send the long and slender rescue robot into ruins. To make it more effective, a dual-drive method was designed that a pulling mechanism drag the arm in front and a pushing mechanism send the arm from behind at the same time. Sickle legs in combination with steering head of the arm ware adopted in the pulling mechanism which has great obstacle climbing performance. Also rubber wheels of the pushing mechanism was driven by a stepper motor and provided great friction to push the robot arm. The control circuit board was designed to realize accuracy control of the automatic insertion system. Experiments show that the propulsion system has good performance in experimental environment.