Researches On Anti-impact Mechanism And Differential Human Computer Interaction Method Of Miniature Robot With Multi-mode Deployment

The high-risk domains or unknown scenes, such as severe natural disasters, chemicalpollution incidents, anti-terrorist scenes and battlefield goals, are usually hard to reachedquickly due to the complexity of the situations. Aiming at the problems above mentioned, aminiature robotic detecting system with remote and rapid deployment, which based onhuman-robot interaction is proposed. The system airdropped the miniature robots to thetarget areas by aircraft. The miniature robots can detect and collect the necessary and vitalinformation in the target areas by the sensors their equipped, and then relays theinformation to a central computer. The first-hand stories information got by the robot canoffer grounds for decision. The paper mainly researches the miniature robot which based onhuman-robot interaction. The scope of the paper is bionic anti-impact mechanism,soft-landing mechanical buffer for miniature robot, the control and monitoring systembased on human-robot interaction, and dynamics emulation analysis of robot in the fourtypical environments by using ANSYS/LS-DYNA.Firstly, the background of demands and technical challenges of the miniature robotswith remote and rapid deployment are analyzed comprehensively. Then the general designof robot detection system and its main structure were proposed.Secondly, besides the difficulties of remote and rapid deployment, the miniature robotsshould to confront the difficulty of the air dropping shock. In order to solve the difficultiesabove mentioned, the methodologies of the rapid deployment and soft-landing arecomprehensively analyzed. According to the analysis above mentioned, the rapid dispersingdevice and the soft-landing buffer of the robot have been researched and designed.Thirdly, when the robot was threw into the target areas at close range, the robot wouldto withstand big impact load produced by ground. To settle this problem, the shockisolation technology has been researched. Then the anti-overload mechanisms have beendesigned for improving the anti-overload capability of the robot. The anti-overloadmechanisms includes bionic omnidirectional anti-overload wheel, bionic main bodystructure and flexible driving mechanism with all-dimensional anti-impact of the axialindependent and radial-related. Moreover, the two-wheeled cylinder robot presents achallenge of balancing the unwanted and the desired motion over the wheels. To solve thisproblem, an attitude adjusting mechanism was designed for adjusting the balance of the robot when it falls to the ground and keeping its balance when the robot moves on theground.Fourthly, the dynamics emulation analysis of robot in the four representative operatingenvironments has been done by using ANSYS/LS-DYNA. By simulating the model,anti-impact capability performance evaluation of the anti-impact mechanisms areperformed. The suggestion and the opinion for further improving the anti-impactmechanisms of the robot also have been presented.Fifthly, according to the demand of the information detection, control and monitoringsystem based on human-robot interaction was designed. To counteract the problem ofdifferential human computer interaction design, the effects of aging on pointing movementshave been investigated. This study suggested that Fitts’law applied for pointing movementsof the elderly adults under different visual restriction conditions. The study presents atheoretical base of ethology for designing differential human computer interaction interface.Base on the results, the design methods of differential human computer interaction interfacefor young adults and elderly adults have been presented to raise the efficiency ofhuman-computer interaction.Finally, the experimental prototype of the rapid dispersing device and the soft-landingbuffer of the robot have been developed. By dispersing testing, the designs of the twoprototypes are demonstrated to be feasible and practicable. Moreover, the prototype of theminiature robot has also been developed. The validity and reliability of the anti-impactmechanisms and the control system of the robot have been validated through anti-impactexperiments in the four typical environments and the experiments of operating capacity.