Analysis Of Kinematics And Dynamics Of Danger Area Exploration Robot Based On VR Technology

In recent years, the safety of coal mine production has aroused widespread concern in society. Our government is increasing efforts at all levels to rectify and standardize the coal mines. In addition to standard management, the use of advanced technology and equipment for mining work of the ambulance is needed. After the accident in the coal, an urgent need is an equipment which can replace the first ambulance crew to enter the disaster areas and detect the completion of the at the scene and also transmit the environmental parameters to the command center. In this way, it can reduce the casualties of ambulance crew who access to the unknown region. As a research of the robot for coal mine disasters, the purpose of this research is to study a remote control robot which can enter dangerous places not suitable for human beings and investigate the at the scene.In this paper, we introduce a risk region exploration robot- SDU-LURKER series, which is developed by Shandong University. First the source, background, significance, and study of the status quo at home and abroad are introduced. In order to give us an intuitive understanding of the robot platform, the mechanical and internal drive structure is introduced. At the same time, the design of the program topics and indicators is introduced.In this paper, we build the kinematics and dynamics models of the risk region exploration robot. Based on the kinematics model, trajectory control of linear and turning motion is proposed and based on the dynamic model we achieve an obstacle avoidance strategy which can deal with different obstacles such as slopes, stairs, steep obstacles. The paper gives a detailed analysis of kinematics and dynamics, and the results of the realization of algorithm and applied to the robot physically.The article also use the virtual prototyping technology, which is relatively popular in recent years. In the ADAMS (Automatic Dynamics Analysis of Mechanical Systems) platform, we analyze of robot kinematics and dynamics equations, do a number of algorithms simulation and get a large number of simulation data. From them we can determine whether the algorithms suitable for the robot.Then, the algorithm is applied to the robot entity and get experimental data. It is a real achievement of the transition from theory to practice.Finally, according to theoretical calculations, the software simulation and the experimental results of robot entity, we summarize and evaluate the advantages and disadvantages of the algorithm in the robot prototype and propose improvement ideas.