Design and Research of an Active Search and Rescue Robot Used in Ruin Interstice

After studying of post-earthquake environment, we develop a new kind of search and rescue robot, which can go into ruin interstices to implement rescue. Through the research of track and snake-like robot that used in searching and rescuing, we design a new kind of mechanism, which has advantages of both track and snake-like robots. This article also gives some details about the modular unit of track drive mechanism of the robot, the head turning mechanism actuated by tendon-sheath, and the control method of the robot system.