A new bionic assisted driving mechanism of ruins rescue robot

To develop a robot system which can implement search and rescue work, an assisted driving mechanism which can automatically pull flexible cable of rescue robot into ruins is researched. The system is formed by two parts. The driving part is designed by principle of friction wheel to drive the rescue robot. The supporting part is formed by planar four-bar linkage which can be opened and tightened. Through theoretical analysis and prototype experiments, it is showed that the mechanism can assist the flexible cable of rescue robot inserting into ruins.