Structure design of a miniature and jumping robot for search and rescue

摘要

The extremely dangerous and complex environment caused by tremendous earthquakes or unnatural disasters usually brings great danger to survivors and salvagers. Therefore, search and rescue missions after any disaster indicate a huge need in special access to reduce the loss for human beings and, at the same time, to improve the capability of performing the tasks. In terms of the miniature robots which can go into the confined zone for the searching tasks, this project focuses specially on analysing climbing obstacle capability of the miniature robots, and introduces a new concept composed of a jumping robot which is mounted on a tracked mobile base. To design, calculate, and analyse this system, an appropriate mechanism, geometric dimensions, and specific properties are detailed, which include a dual‐tracked articulated transformable locomotion system, a transmission system with a sleeve shaft, an incomplete gear jumping mechanism, and the selection and calculation of power system motors. To complete the design procedure, a three‐dimensional sketch of each component of the robot was generated by means of Solidworks.