Luca Rimassa, Matteo Zoppi and Rezia Molfino
The purpose of this paper is to present new locomotion and steering modules conceived and designed for rescue serpentine robots with enhanced climbing ability. The locomotion…
Abstract
Purpose
The purpose of this paper is to present new locomotion and steering modules conceived and designed for rescue serpentine robots with enhanced climbing ability. The locomotion modules apply sock locomotion technology that allows great motion efficiency in rubble and confined environment due to the very high propulsion ratio. The steering joints guarantee good orientation dexterity by exploiting actuation based on smart materials.
Design/methodology/approach
Great attention and time is dedicated to the design phase, digital mock‐upping and virtual comparative assessment of different solutions. Mechatronic interdisciplinary design methodology including mechanisms analysis, sensory actuation issues and functional materials characterization, control and communication integration has been adopted.
Findings
The locomotion modules are revised and updated versions improving climbing ability of the socked locomotion module originally proposed by the authors. New steering modules with high orientation workspace, based on smart actuation, are introduced.
Research limitations/implications
The evaluation of the findings on the field is planned but no experimental result is today available.
Practical implications
Agile serpentine robots are requested for quick and safe rescue and special risky interventions in environments where dense vegetation, rubble and confined spaces prevent human presence. These robots offer invaluable potential help in such risky interventions mainly by being agile in exploring the environment, robust, low cost, reliable, and tele‐operated.
Originality/value
The paper presents original issues in terms of concept and design of instrumental (locomotion and steering) modules for composing modular rescue robots with very high locomotion agility and climbing performances.
Details
Keywords
Rezia Molfino, Matteo Zoppi and Luca Rimassa
The purpose of this paper is to present a cost‐effective design for a new rescue robot locomotion module using the principle of a continuous sliding membrane to achieve propulsion…
Abstract
Purpose
The purpose of this paper is to present a cost‐effective design for a new rescue robot locomotion module using the principle of a continuous sliding membrane to achieve propulsion ratio (PR) near 1. Such high PR cannot be reached by other locomotion mechanisms that have been proposed.
Design/methodology/approach
The paper first introduces the PR as a reference parameter to assess locomotion effectiveness of snake‐ and worm‐like robots. The state‐of‐the‐art is reviewed. A direction to step beyond getting PR near 1 is indicated. The way is by realizing a continuous sliding membrane. Two solutions in this direction which have been recently proposed are recalled. It is shown that none of them can be practically implemented to realize functioning systems with today's available technology. A new design with membrane actuation has been identified and it is described in detail. A prototype has been realized and earliest results and evidence of functioning described.
Findings
Critical discussion of the concept of locomotion based on a sliding membrane was conducted. A new design for a robot locomotion module applying this concept was presented. Earliest evidence of functioning and effectiveness of the new system proposed was given.
Research limitations/implications
A new locomotion principle is shown. The state‐of‐the‐art background is discussed. A design to realize the new system in a cost‐effective way is described. The research implications lie in the future development of new mobile robots with higher locomotion capability than today's available systems. Several future research and development directions are shown.
Practical implications
A new generation of more locomotion‐effective snake‐ and worm‐robots, especially for rescue application in rubble, is foreseen. The design proposed takes cost‐effectiveness and practical realizability into account.
Originality/value
The continuous sliding membrane concept had been already proposed but no reasonable realization and actuation solutions had been singled out. The design of the new locomotion system is totally new and contains several breakthrough ideas. A prototype is available proving worthy in concept and functioning. It is cost‐effective and this will allow shorter application to real robots.