Design and Development of Multi-arm Cooperative Rescue Robot Actuator Based on Variant Scissor Mechanism

Search and rescue has become a key technology to be solved, but it is difficult for most rescue robots to implement safe and effective rescue for survivors. Based on two degree of freedom five bar variant scissor mechanism, this paper proposes a design scheme of combined bionic multi-arm cooperative rescue robot actuator. The actuator was designed to imitate elephant trunk, octopus and armadillo and the working track of rescue manipulator is designed by the cross section of human body. The kinematics of the actuator is analyzed based on the vector method, and the positive position solution and Jacobian matrix are obtained. The optimal design parameters of the actuator are determined, and the experimental prototype of the rescue robot actuator is developed, which lays the foundation for the development of the new rescue robot.