Design,analysis And Experiment Of A Rigid-flexible Coupled Duplex Collaborative All-terrain Walking Rescue Robot

The frequent occurrence of natural disasters,terrorist activities and accidents has brought severe challenges to the post disaster rescue work.The application of rescue robot can effectively improve the efficiency of rescue operation and reduce casualties.Aiming at the requirements of large carrying capacity,high security and unstructured terrain adaptability in the rescue transfer task of the trapped wounded in complex environment,this paper proposes a rigid flexible coupling multi arm cooperative all terrain walking rescue robot,carries out kinematics,statics,obstacle surmounting analysis and simulation,and carries out prototype development and experimental research.First of all,the rescue operation process is analyzed.Based on the task requirements,a multi arm cooperative encircling rescue actuator based on variant scissor mechanism is proposed by using bionics principle,and its kinematics is analyzed.According to the constraint conditions of rescue manipulator mechanism,its workspace is drawn based on Monte Carlo method;an innovative design is proposed to store the rescue actuator in the robot The internal wheel shoe swing arm composite all terrain mobile chassis is checked and analyzed based on ABAQUS.Secondly,the obstacle surmounting performance of the wheel shoe swing arm composite all terrain mobile chassis is analyzed.Firstly,the motion process of the robot is obtained through the kinematics analysis of the chassis,and the motion process is briefly analyzed.Then,by analyzing the change of the chassis centroid,the mathematical model of the relationship between the chassis centroid and the swing angle of the swing arm is established.Then,the typical motions such as slopes and steps are analyzed The corresponding parametric model is established,and the force relationship of the chassis is analyzed,and the driving torque of the chassis in different situations is obtained.Thirdly,the engineering design and parts selection of the experimental prototype of the rigid flexible coupling multi arm cooperative all terrain walking rescue robot are carried out,and the development and assembly of the whole prototype are completed.Finally,based on the developed rigid flexible coupling multi arm cooperative all terrain walking and rescue robot experimental prototype,the force sharing experiments of its actuator during rescue and the obstacle surmounting performance experiments of wheel shoe swing arm compound all terrain mobile chassis mechanism are carried out respectively.In this paper,the design,analysis,development and experiment of a rigid flexible coupling multi arm cooperative all terrain walking rescue robot are carried out based on the actual rescue operation,considering the bearing capacity and safety of the rescue robot and the adaptability of complex terrain,which provides a reference for the research of new rescue robot.