Study On The System Of Passive Deformation Disaster Imformation Acquisition Robot For The Earthquake Rescue

Earthquake disasters have inflicted significant economic losses and casualties for our country in recent years. How to obtain disaster information in time is an important guarantee for improving rescue efficiency in the "golden 72 hours" and reducing the casualties. Applying the robot technology can collect information in the disaster site where rescuers are difficult or inaccessible to enter and provide decision information for rescue command center for the first time. Supported by the National High Technology Research and Development Program of China- " research and application of robot for emergency ", the thesis researches on the system of passive deformation and disaster information acquisition robot on the earthquake rescue.The main innovations of this paper are:1. The functional requirements of information acquisition robot on the earthquake rescue are analyzed. A kind of passive deformation track driving mechanism and arc swing arm mechanism are put forward. The realization mechanism of passive adaptive is studied.2. According to the modular design concept, the information acquisition and rescue modules are designed. The design of mobile platform and system integration is completed.3. The robot kinematics model is established. The motion of the robot how to cross the boss and the groove is planed and the ability of the robot to cross over typical obstacles such as slope, boss, and trench is studied.4. The design of hardware and software of the robot control system is completed. On the basis of this, the robot control and remote monitoring are studied.5. A passive deformation and disaster information acquisition robot on the earthquake rescue is developed. The motion performance and information acquisition and transmission are tested. It is proved that the performance of it meet the expected design index.