ARCLab Mobile Rescue Robotic Platform:

Project Overview:

This project focuses on developing a mobile robotic platform for emergency medical evacuation. Current evacuation methods rely heavily on human rescuers, which can be slow, physically demanding, and potentially dangerous in hazardous environments. While advances have been made in robot autonomy and rescue robot platforms, there remains a gap in human-robot physical interaction for safe evacuation. Our solution combines a mobile base with dual robotic arms designed to safely manipulate and transport individuals during rescue operations. The project integrates aspects of robotics, controls, and mechanical design to create a system capable of supporting human evacuation while ensuring safety throughout the interaction.

My Contributions:

My role centered on the mechanical design and implementation of the mobile robotic platform, which serves as the foundation for this emergency medical evacuation system. The project presented several key engineering challenges that required innovative solutions:

1. Structural Integration

• Designed and manufactured a robust mobile platform capable of supporting two 18 kg robotic arms while maintaining a 10 kg payload capacity for medical evacuation

• Utilized FEA (Finite Element Analysis) to optimize the structural design, minimizing the need for additional reinforcement while ensuring structural integrity under various load conditions

• Developed solutions for weight distribution and stability management during both transport and operational phases

2. Dynamic Stability System

• Engineered a motorized mechanism that actively adjusts the platform's center of mass between travel and operational configurations

• Implemented counterbalancing systems based on extensive analysis of extreme case scenarios, ensuring stable operation during critical rescue maneuvers

3. Evolution to All-Terrain Capability

• Currently leading the platform's evolution from a wheeled base to a hexapod design, significantly enhancing mobility across uneven terrain

• Developing a full-sized prototype leg system that integrates complex linkage systems with precise motor control

• Implementing kinematic simulations and PID control systems to achieve coordinated movement across challenging environments

Next Steps: Legged Rescue Robotic Platform

Building upon the successes and lessons learned from the wheeled rescue robotic platform, our team at ARCLab is advancing to the next phase: developing a legged rescue robotic platform. As part of my continued research with Professor Yip and PhD student Lizzie Peiros, I'll apply my experience to this more versatile system.

Project Goals

The legged platform aims to enhance rescue capabilities through:

• A transformable leg mechanism that transitions between high-speed mode (for traversing distances quickly) and high-torque mode (for moving casualties)

• Capability to drag a 200lb unconscious person in high-torque mode

• Mobility comparable to human walking speed in high-speed mode

• Structural integrity to support a 20-40lb chassis and two 45lb Franka Panda arms in both operational modes

Technical Approach

Our team will:

1. Design and prototype multiple leg configurations inspired by hexapod/cockroach biomechanics

2. Develop a specialized test fixture to compare different leg designs under simulated rescue conditions

3. Utilize linkage mechanisms to optimize the moment arm of the legs during mode transitions

4. Evaluate performance through both simulation and physical testing

Expected Outcomes

This next-phase project will deliver:

• A functional leg design prototype using 3D printed and laser cut components

• Comparative analysis documenting the strengths and limitations of different leg configurations

• Testing data validating the design's ability to meet both mobility and load requirements

• Foundation for scaling to a complete hexapod platform with mounted manipulator arms

This advancement represents a significant step toward ARCLab's vision of deploying robots capable of safely navigating rough terrain and physically assisting human casualties in emergency scenarios.