Design And Study On Minor-caliber Deep Well Rescue Robot

This thesis have mainly focused on deep well rescue robot of the Robot Research Center in Shandong University of Science and Technology. We put forward this topic because there havn't been special rescue equipments while deep well accidents frequently happened at home. According to actual working conditions a deep well rescue robot with five degrees which has a probe arm and a lock arm has been designed. And we carried on entity modeling and assembly using SolidWorks which is a three-dimension modeling software. According to the need of the operating space and the work characteristic, the optimum design mathematic model have been established for the lock arm of the robot. Using fmincon function from MATLAB Toolbox we have made the optimum design and achieved the optimal solution. The kinematic equation have been built by D-H methods,which provides the theory basis for the control and simulation of the robot. Then the geometric model was imported to COSMOSMotion which is a kinematics and dynamics analysis software for interference checking and dynamic simulation. The map from operational space to actuator space via joint space have been discussed and the virtual prototype model has been built and the important joints movement curves were available. The finite element analysis for the connecting rod and the probe arm has been carried on with the software COSMOSWorks, and the stress and strain in the worst conditions were available which provides reference for the improvement of link strength. Finally the stability of the pressure rod was checked in the probe arm, and optimum cross section size was achieved.