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The discrete time transfer matrix method for multi-rigid-body systems is improved based on the structural characteristics of the robotic arm and the relations between motion transfer and force transfer. A new multi-body system transfer matrix modelling method applicable to serial robots is proposed, and a unified model for a manipulator with n joints is developed. This model contains characteristics...
Based on the complicated and dangerous disaster scenarios which are instructed and unknown, this paper studied the problems existed in rescue robots currently. To prevent the rescue workers from being hurt in the dangerous disaster scene, this paper designed a rescue robot in conception to replace rescue workers. It is equipped with an arm to identify the injured and a cabin to carry the wounded back...
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