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Development of a serpentine omnitread robot for searching in explosive gas atmospheres

机译：开发用于爆炸性气体环境中的蛇形全读机器人

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Purpose - There is explosive gas in many disaster environments. The conventional search and rescue robots are not allowed to work in these environments, since they may cause explosion. The purpose of this paper is to describe the design and development of the serpentine omnitread robot HITSR-I for working in these areas. Design/methodology/approach - HITSR-I consists of four segments, and each segment is equipped with crawlers in the four directions. It can be operated even under the situation of sideslip without any recovering actions. There are pressed CO_2 containers and the pressurized control system inside the robot, and the shells of the robot are a fully sealed up structure. They can maintain the inside pressure higher than the outside. The robot can release the communication relay node to extend the communicating area, so it can search a large area even amid rubble. Findings - HITSR-I was developed with the capability of climbing over 400mm high obstacles. The maximum travel distance was 315 m. The pressurized system could enable the robot to work in Zones 1 and 2. Originality/value - Design and development of a serpentine robot which can work in hazardous areas containing explosive gas. It can travel for a long distance in ruins by releasing the communication relay nodes.
机译：目的-在许多灾难环境中都有爆炸性气体。传统的搜索和救援机器人不允许在这些环境中工作，因为它们可能会引起爆炸。本文的目的是描述在这些领域工作的蛇形全读机器人HITSR-I的设计和开发。设计/方法/方法-HITSR-I分为四个部分，每个部分在四个方向上都装有履带。即使在侧滑情况下也可以操作，而无需任何恢复动作。机器人内部装有受压的CO_2容器和加压控制系统，并且机器人的外壳是完全密封的结构。他们可以保持内部压力高于外部压力。机器人可以释放通信中继节点以扩展通信区域，因此即使在废墟中也可以搜索较大的区域。调查结果-HITSR-I的开发能力是可以爬过400毫米高的障碍物。最大行驶距离为315 m。加压系统可以使机器人在区域1和2中工作。原创性/价值-蛇形机器人的设计和开发，可以在含有爆炸性气体的危险区域中工作。通过释放通信中继节点，它可以在废墟中长距离行驶。

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