Analysis And Design For Mechanisms Of Reconfigurable Fire Robot

Traditional fire trucks affect the fire started rescue work for its simple structure and the lack of sufficient flexibility in the face of complex and non-structural environment. The obstacle is not maybe avoid . The reconfigurable robot of fire with parallel modular is proposed in this dissertation. This robot which the high stiffness and the advantages of large carrying capacity is accepted has a a redundant degree of freedom and overcome these shortcomings. The following research is carried out.(1)Design and analysis functions and institutions with fire-fighting robot. The deployment of key for existing fire trucks, fire environmental characteristics and functional fire-fighting robot is discussed. It is not enough the capacity of obstacle avoidance for existing fire trucks. The ways space and space movement for robots is further analyzed. The characteristics of fire robot obstacle avoidance movement is discussed too. The concept parallel with reconfigurable robot fire, that is, for the parallel robot mechanism being as functional modules for reconfigurable robots fire is proposed after discussing the process of obstacle avoidance movements and the robot design method.(2) Modular for reconfigurable parallel robot synthesis and selection. A parallel robot mechanism for reconfigurable robot modules is proposed. The robot mechanism for modules is synthesised and separated, a) Based on the theoretical foundation of single open chain, the spherical 3-DOF parallel robot mechanism and symmetric 3-DOF parallel robot mechanism is synthesized. There are 145 kinds of spherical 3-DOF parallel robot mechanism and the 11 kinds of symmetric 3-DOF Parallel Robot acquired. Such parallel robot provide theoretical basis for further research and analysis designed, b) 3RPS parallel robot mechanism (S module) which structure is simple and symmetry is selected as a parallel reconfigurable robot to avoid obstacle, The transfer pair (P module) is selected as a parallel can be rapidly reconstruction of fire-fighting robot work space modules of functionality. The chasis with equipment supporting the robot arm of the fire ups and downs,rotating as based module..(3) Design and optimization of S modular cell. The analysis model with design parameters of the S modular cell was built by ADAMS with the technology of virtual prototyping. There are three parameters which are the ratio between the circum radius of the moving platform and the one of fixed base , the length of the prismatic pair and the circum radius of the fixed base, are chosen as variables to perform the optimization of the maximum rotation angle of the R modular cell. It is the main factor affecting the angle turning is the ratio between the circum radius of the moving platform and the one of fixed base after DOE analysing.(5) Obstacle avoidance is researched for the new type fire trucks. Preliminary study of such principles of robot obstacle avoidance, obstacle avoidance path planning, simulated fire scene and obstacle avoidance example of the calculation and simulation were made.It is full of meaning that the results for the promotion in the areas such as industrial robots, fire rescue, no detection and handling of hazardous materials technology and equipment industry.