The Rescue And Evacuation Robot: Human Body Stress Analysis And The Structure, Kinematics Methodology Of A Novel Handling Mechanism

This dissertation presents a systematic package for the human stress analysis andstructure, kinematic synthesis of a novel handling mechanism for Rescue andEvacuation Robot to meet demand of reducing the human stress and avoiding thesecondary injury in the special events such as military operations and citybiochemical terrorist attacks, explosions and other public health emergencies. Thefollowing contributions have been made.(1) A fast finite element modeling process for the human spine is presented byCT image segmentation and minimum-error thresholding method using the fractaltheory. This method makes up application limitation of the two-dimensional Otsumethod in the Mimics software and deficiency in the segmentation threshold selectionof the software itself, considering the pixel neighborhood characteristics. Accordingto the relationship of the CT Hounsfield value and Young’s modulus, the spinegeometry gray value model is established and the nonlinear material parameters of thebone tissue are acquired. These nonlinear material parameters are benefit to improvethe analytical accuracy of finite element model.(2) The joint contact surface processing and solving methods of the human spinefinite element analysis are carried out by inserting script in the ANSYS based uponthe contact analysis theory. The methods are easy to solve the finite element contactinterface problem that caused by the unknown position and status and thetime-varying phenomenon. Through a systematic analysis of the typical rescueevacuation robot execution mechanism, the human spine stress rule and the influencefactors are revealed.(3) Consideration of the realizing conditions from zero degree of freedom ofhuman body, a novel handing mechanism is proposed by treating sliding stretcher asbasic mechanism and dual6-DOF manipulators as auxiliary mechanism, thatbreakthrough the working principle of conventional handing mechanism. At the same time, a method for the structure synthesis of the kinematic decoupling and collapsible6-DOF manipulators having orthogonal joints is presented by freedom nature analysisand the nullity of the dimensional parameters caused by the point of the folding in thedeterminant of the Jacobian.(4) The forward and inverse displacement, velocity and acceleration analysis ofthe dual6-DOF manipulators are carried out by screw theory. The dimensionaloptimization method is proposed by a dimensionless conditioning index representedby the characteristic length under Isotropic operating point. Finally, a kind of pathplanning method of generating zero velocity and zero acceleration in a finite intervalendpoints is study.The results of this dissertation are useful for developing the rescue andevacuation robot to enhance the ability of medical service support in public healthemergencies and the capability of military forces.