Abstract
This research describes the development of a search and rescue mobile robot "Bari-bari-III", which jacks-up heavy debris while sneaking into a collapsed house. Previous prototypes presented three problems: 1) it needs a plane surface in order to jack-up debris; 2) limited jack-up driving power, and 3) wobbling debris up and down while sneaking through them. By investigating the position of the hydraulic cylinder and by using a capsule structure, Bari-bari-III is able to sneak even through 3-D rough narrow spaces. Furthermore, adopting a wedge body, Bari-bari-III has the function to output constant power (about 1.4ton) in theory regardless of the jacking up height. In addition, Bari-bari-III can sneak with multiple units combined side-by-side, enabling it to sneak with small wobbling motion. Finally, the effectiveness of Bari-bari-III is verified by field test in the environment similar to real situation.
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