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The bristle theory and traction experiment of a brush based rescue robot

Published online by Cambridge University Press:  23 September 2003

Zhelong Wang  and
Ernest Appleton
Zhelong Wang
Affiliation:
School of Engineering, University of Durham, Durham, DH1 3LE (U.K.)zhelong.wang@durham.ac.uk
Ernest Appleton
Affiliation:
School of Engineering, University of Durham, Durham, DH1 3LE (U.K.)
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Abstract

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This work introduces the concept of a brush-based tractor used for rescue in collapsed buildings or tunnels. The paper presents the bristle theory and traction experiments relating to a robot, which uses a sensor system for detecting the shapes of pipes or tunnel like voids within rubble. Traction experiments in the laboratory were used to investigate the characteristics of bristles and the performance of the brush units of different shapes. The experimental results are discussed in the paper and related to a single bristle theory with a view to giving guidance for the design of a future brush based rescue robot in debris.

Keywords

Bristle theoryRobot tractionBrush based tractionRescue robotShape change
Type
Research Article
Information
Robotica , Volume 21 , Issue 4 , August 2003 , pp. 453 - 460
Copyright
© 2003 Cambridge University Press