Research On Structure Design And Motion Performance Of Four Modules Deformable Robot

Since the 21st century,the large-scale earthquake disasters in China have brought immeasurable losses.At the same time,the difficulty of post disaster rescue makes the country pay more and more attention to this field.Because of the demand of post disaster rescue work,the robot field and the post disaster rescue field are closely linked.Besides rescue work,search has the same important position.Therefore,strong mobility and environmental suitability are essential characteristics of post disaster rescue robot.Because of this,the deformable robot with these two characteristics entered the field scientists' vision and rapidly develop in related fields.The four modules deformable robot is mainly aimed at the post disaster search work in the post disaster rescue field.The robot mobile mechanism is crawler mobile mechanism.This kind of mobile mechanism has the characteristics of stable movement and strong terrain adaptability.In addition,combined with the deformability characteristics,the robot terrain adaptability is further strengthened,so that the four modules deformable robot have ability to move in most terrain.Combined with the original design intention of the four modules deformable robot,all four modules deformable robot's configuration is classified and sorted out.Combined with the analysis methods of kinematics and dynamics,several commonly used motion modes' mathematical models are established,and the mathematical models analyzed to complete the configuration selection of the robot in the process of motion.The motion performance experiment platform of the four modules deformable robot is built to verify the influence factors on the motion performance.Several main performance parameters such as turning radius and crossing gully distance are collected and compared with the simulation data to complete the optimization of the motion performance related parameters.Finally,it can build a perfect evaluation system of four modules deformable robot.According to the motion performance evaluation system can selected the configuration transformation route,and construct the environment response strategy for four modules deformable robot.Through configuration selection and motion performance system construction,the four modules deformable robot configuration network is completed,so that the robot can have a faster and more accurate deformation scheme in the face of emergencies,and further strengthen the robot mobility.Through the four modules deformable robot completion entity experiment,the final realization of the four modules deformable robot motion performance research and configuration transformation network optimization.