Cable: Design of a Transmission-Type Snake Rescue Robot

The advancement of robotics holds great promise for enhancing rescue missions. Existing rescue robots often suffer from poor collaboration. In response to this challenge, we present the design of Cable, a snake rescue robot with docking capabilities. The docking mechanism enhances the robot's redundancy, enabling it to perform more intricate movements and provide essential services, such as sound, light, and power, in confined spaces for the rescued individuals. One notable feature is the integration of a visual system that collaborates seamlessly with rescue personnel, facilitating comprehensive surveys of the rescue area. This visual feedback not only aids in environmental assessment but also empowers the robot to autonomously select optimal movement modes. This paper begins by introducing the system architecture design and visual algorithms, followed by an analysis of docking strategies and kinematic processes. Finally, the feasibility of the robot design is validated through experiments. The results demonstrate the robot's collaborative advantages in complex rescue environments.