Design And Simulation Of Crawler Fire Fighting Robot

In the case of chemical and petroleum fires,firefighters are difficult to enter the dangerous scene,especially in the face of flammable,explosive and other dangerous conditions,and they may be in danger of their lives at any time.To avoid this,the present research developed a new type of tracked fire-fighting robot mainly used for replacing firefighters to investigate and fight fire in flammable,explosive and other dangerous situations.Firstly,based on the actual fire scene,a force analysis on the fire water cannon is conducted to determine the robots' overall quality requirements,and to further select and design their chassis structure.Specially,the fixed crawler structure chassis is used as the mobile platform of the robot to realize the fire-fighting robots' obstacle-crossing.Secondly,a theoretical analysis of kinematics and dynamics on the robots is made to provides a theory or basis for robot control and motor selections.Thirdly,the software RecurDyn is applied to build the virtual prototype of the fire-fighting robots,and their various motion states are simulated and verified,especially the simulation of obstacle crossing,in order to further testify the rationality of their structural design.Finally,their spare parts of different positions are processed,assembled and debugged,and the process of obstacle crossing is examined by experiments.