Development of a 6 degree-of-freedom manipulator arm for use on an urban search and rescue robot

This document reports on the design, construction and testing of the manipulator arm that is to be fitted to UCT's Urban Search and Rescue Robot (USRR), named the Ratel. The 6 degree-of-freedom manipulator arm is mounted on the crawler base. The USRR is designed to traverse difficult terrain in search of survivors. The base is therefore equipped with variable geometry tracks to enable it to traverse stairs and other tricky terrain. The sensor payload is equipped with life detection equipment and the manipulator arm enables the USRR to manipulate with its environment (opening doors etc.) and to interact with survivors, passing them water or food packs.

Grantor dc:publisher.institution

Department of Mechanical Engineering

Year dc:date.issued

2012

Author dc:creator

• Henson, Peter MA

Advisor dc:contributor.advisor

• Marais, Stephen

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/11427/12277

OAI identifier oai:identifier

oai:open.uct.ac.za:11427/12277