Development of Joints for Power Microrobot for Searching inside Debris

Searching for victims in narrow gaps and shoring up pieces of debris to secure space are tasks encountered in disaster rescue operations. The authors have developed high-strength robot joints for microrobots to be used in such situations. The joints developed are of three types - swivel joint, extension joint, and strut joint - all having an outer diameter of 60mm and driven by a 21MPa hydraulic system. This paper presents the system configuration of a power microrobot for traveling and searching inside debris, then describes the mechanisms and controls of the three developed joints. This study thereby demonstrates the possibility of realizing a microrobot capable of maneuvering within narrow gaps and shoring debris to secure space. The microbot weighs approximately 25 or 35kg (including the hydraulic unit), is driven by a 100V power supply, with 300W power consumption, and has an outer diameter of 60mm and length of about 1m.