Title :
Rescue inspectors to enhance accessibility and traverse ability using Magnetic Brake Cylinder
Author :
Watari, Eyri ; Tsukagoshi, Hideyuki ; Kitagawa, Ato
Author_Institution :
Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo
Abstract :
Two types of rescue inspectors are presented in order to enhance accessibility of disastrous sites. One is a rolling and jumping mobile inspector, which uses a pneumatic cylinder to jump over obstacles, and the other one is the throw and collect type rescue inspector, which deploys a child machine over high obstacles using a pneumatic cylinder In order to enhance their traversing ability, in this paper, a novel pneumatic cylinder is proposed, named magnetic brake cylinder (MB cylinder hereafter), which is composed of a tank, a pneumatic cylinder, and a permanent magnet. With this structure, the piston is held by the attractive force of the magnet until the pressure inside the tank is very high, offering a higher driving power than an ordinary cylinder. Its control method and the optimization process of its size are also introduced. The MB cylinder is then mounted into the presented inspectors, which show a higher jumping and throwing height than when using an ordinary cylinder, proving to be an efficient option of enhancement.
Keywords :
collision avoidance; mobile robots; pneumatic actuators; service robots; accessibility enhancement; disastrous site; jumping mobile inspector; magnetic brake cylinder; obstacle avoidance; optimization; permanent magnet; pneumatic cylinder; rescue inspector; rolling mobile inspector; throw-collect type rescue inspector; traverse ability enhancement; Control engineering; Electronic mail; Engine cylinders; Gravity; Legged locomotion; Mobile robots; Permanent magnets; Pistons; Robot sensing systems; Scattering; Fluid power; Jumping robot; Pneumatic cylinder; Rescue robot;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4655004