Casting device for search and rescue aiming higher and faster access in disaster site

This paper discusses a casting device for search and rescue operation to aid higher and faster access for mobile robots. To realize higher performance, the design concept of the device is examined from the following three aspects. First, after the arrangements of the stored tether are categorized, the method of selecting the optimal one is considered to maximize the kinetic energy on the tether. Second, to minimize the resistance caused by the tether, a tapered case for the storage is proposed, expected to mitigate the friction between the tether and the case and to prevent the twist on the tether. Third, the way of anchoring the end of the cast tube is proposed. Finally, experimental results show the validity of the device designed on the proposed concepts, after the device is combined with an unmanned vehicle and a ropeway type robot.