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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
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Tendonsheath actuated long and slender robot: preliminary design and performance
CHEN Lin, XI Ruru, WANG Xingsong
（College of Mechanical Engineering, Southeast University, Nanjing 211189, China）
Abstract: In order to solve the problem of search and rescue the victims under debris, a novel designed long and slender robot was introduced. With tendonsheath transmission mechanism, actuators and joints were separated, thus the work part of the robot is lightweight and has a small size. The robot was mainly composed of a steering head and a long and slender body. The steering head was modular designed and the number of its joints can be changed quickly according to the needs. The experiment results validate its effectiveness.
Key words: search and rescue robot; tendonsheath transmission mechanism; modular joints
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