The design procedure of ResQuake as a tele-operative rescue robot and its dynamics analysis, manufacturing procedure, control system, and slip estimation for performance improvement are discussed. First, the general task to be performed by the robot is defined, and various mechanisms to form the basic structure of the robot are discussed. Choosing the appropriate mechanisms, geometric dimensions, and mass properties are detailed to develop kinematic and dynamic models for the system. Next, the strength of each component is analyzed to finalize its shape, and the mechanism models are presented. Then, the control system is briefly described, which includes the operator’s PC as the master processor, and the laptop installed on the robot as the slave processor. Finally, slip coefficients of tracks are identified and validated by experimental tests to improve the system tracking performance. ResQuake has participated with distinction in several rescue robot leagues.
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e-mail: moosavian@kntu.ac.ir
e-mail: arash1362@yahoo.com
e-mail: hesam2k@yahoo.com
e-mail: ehsanaboo@yahoo.com
e-mail: ehsanmihankhah@yahoo.com
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August 2009
Research Papers
ResQuake: A Tele-Operative Rescue Robot
S. Ali A. Moosavian,
S. Ali A. Moosavian
Associate Professor
Advanced Robotics and Automated Systems (ARAS) Laboratory, Department of Mechanical Engineering,
e-mail: moosavian@kntu.ac.ir
Khaje Nasir Toosi University of Technology
, P.O. Box 19395-1999, Tehran 19991 43344, Iran
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Arash Kalantari,
Arash Kalantari
Graduate Student
Advanced Robotics and Automated Systems (ARAS) Laboratory, Department of Mechanical Engineering,
e-mail: arash1362@yahoo.com
Khaje Nasir Toosi University of Technology
, P.O. Box 19395-1999, Tehran 19991 43344, Iran
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Hesam Semsarilar,
Hesam Semsarilar
Graduate Student
Advanced Robotics and Automated Systems (ARAS) Laboratory, Department of Mechanical Engineering,
e-mail: hesam2k@yahoo.com
Khaje Nasir Toosi University of Technology
, P.O. Box 19395-1999, Tehran 19991 43344, Iran
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Ehsan Aboosaeedan,
Ehsan Aboosaeedan
Graduate Student
Advanced Robotics and Automated Systems (ARAS) Laboratory, Department of Mechanical Engineering,
e-mail: ehsanaboo@yahoo.com
Khaje Nasir Toosi University of Technology
, P.O. Box 19395-1999, Tehran 19991 43344, Iran
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Ehsan Mihankhah
Ehsan Mihankhah
Graduate Student
Advanced Robotics and Automated Systems (ARAS) Laboratory, Department of Mechanical Engineering,
e-mail: ehsanmihankhah@yahoo.com
Khaje Nasir Toosi University of Technology
, P.O. Box 19395-1999, Tehran 19991 43344, Iran
Search for other works by this author on:
S. Ali A. Moosavian
Associate Professor
Advanced Robotics and Automated Systems (ARAS) Laboratory, Department of Mechanical Engineering,
Khaje Nasir Toosi University of Technology
, P.O. Box 19395-1999, Tehran 19991 43344, Irane-mail: moosavian@kntu.ac.ir
Arash Kalantari
Graduate Student
Advanced Robotics and Automated Systems (ARAS) Laboratory, Department of Mechanical Engineering,
Khaje Nasir Toosi University of Technology
, P.O. Box 19395-1999, Tehran 19991 43344, Irane-mail: arash1362@yahoo.com
Hesam Semsarilar
Graduate Student
Advanced Robotics and Automated Systems (ARAS) Laboratory, Department of Mechanical Engineering,
Khaje Nasir Toosi University of Technology
, P.O. Box 19395-1999, Tehran 19991 43344, Irane-mail: hesam2k@yahoo.com
Ehsan Aboosaeedan
Graduate Student
Advanced Robotics and Automated Systems (ARAS) Laboratory, Department of Mechanical Engineering,
Khaje Nasir Toosi University of Technology
, P.O. Box 19395-1999, Tehran 19991 43344, Irane-mail: ehsanaboo@yahoo.com
Ehsan Mihankhah
Graduate Student
Advanced Robotics and Automated Systems (ARAS) Laboratory, Department of Mechanical Engineering,
Khaje Nasir Toosi University of Technology
, P.O. Box 19395-1999, Tehran 19991 43344, Irane-mail: ehsanmihankhah@yahoo.com
J. Mech. Des. Aug 2009, 131(8): 081005 (11 pages)
Published Online: July 20, 2009
Article history
Received:
July 21, 2008
Revised:
May 7, 2009
Published:
July 20, 2009
Citation
Moosavian, S. A. A., Kalantari, A., Semsarilar, H., Aboosaeedan, E., and Mihankhah, E. (July 20, 2009). "ResQuake: A Tele-Operative Rescue Robot." ASME. J. Mech. Des. August 2009; 131(8): 081005. https://doi.org/10.1115/1.3179117
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