Kinematic Analysis of a One-Degree-of-Freedom Ten-Bar Mechanism for Search and Rescue Robot

Abstract

One-degree-of-freedom ten-bar mechanism is a novel mechanism designed to clear loose debris for the search and rescue robot, which involves only one motor to generate the sweep motion. This paper established the kinematic model for the mechanism. The effects of the adjustable parameters on the tips trajectory are analyzed. From the results, a set of optimal parameters are obtained.